CN113431820B - Redundant servo control system and method supporting online replacement - Google Patents
Redundant servo control system and method supporting online replacement Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B20/00—Safety arrangements for fluid actuator systems; Applications of safety devices in fluid actuator systems; Emergency measures for fluid actuator systems
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Abstract
The invention relates to a redundant servo control system and a method supporting online replacement, comprising the following steps: the main module and the standby module are respectively connected with the plurality of acquisition channels; the standby module receives the feedback signals and acquires the processing results of the standby module, acquires the state of each MCU in the standby module and the state of the hardware corresponding to the standby module, and transmits the main module; the main module receives the feedback signal to acquire a processing result of the main module, and transmits the processing result of the main module to the servo valve; acquiring the state of each MCU in the main module and the state of hardware corresponding to the main module, and determining the main MCU in the main module based on the state of each MCU in the main module according to a voting logic architecture; the main MCU controls the disconnection of the main module and the servo valve and the connection of the standby module and the servo valve according to the switching logic according to the state of the MCU in the main module, the hardware state corresponding to the main module and the hardware state corresponding to the standby module.
Description
Technical Field
The invention relates to the technical field of industrial digital electrohydraulic servo control, in particular to a redundant servo control system and a method supporting online replacement.
Background
In industrial application, the digital electrohydraulic control system is mainly controlled by a servo control system in a closed loop manner. The stroke of the oil motor is measured by an LVDT displacement sensor, fed back to a servo module through an acquisition channel, regulated by a PID algorithm, amplified by a servo signal and sent to an electrohydraulic servo valve, so that the valve position stroke of the oil motor is controlled, and the aim of closed-loop control of the whole loop is achieved.
However, the existing servo control module and the acquisition channel are in the same servo device, all acquired data and state information are communicated between the two servo devices, and when any device fails, only data of a single channel can be acquired, and the servo output disturbance cannot be guaranteed to be extremely small.
The Chinese patent with publication number CN 111963748A discloses a double-card double-control servo control system with a redundancy function and a control method thereof. According to the method, two servo valves are used for redundancy design, the two servo modules are used for controlling closed loop stability at the same time, and the shut-off servo current has larger disturbance when faults occur.
At present, a scheme that a servo module and an acquisition channel are redundant and disturbance is very small during redundancy switching does not exist.
Disclosure of Invention
First, the technical problem to be solved
In view of the above-mentioned drawbacks and shortcomings of the prior art, the present invention provides a redundant servo control system and method for supporting online replacement, which solve the technical problem of large disturbance of servo output when a fault occurs.
(II) technical scheme
In order to achieve the above purpose, the main technical scheme adopted by the invention comprises the following steps:
the embodiment of the invention provides a redundant servo control system supporting online replacement, which comprises the following components:
the main module and the standby module are respectively connected with the plurality of acquisition channels;
the main module comprises: a plurality of MCU, multichannel servo output first circuit that interconnect communication connects;
the standby module includes: a plurality of MCU, multipath output loops which are connected with each other in a communication way;
wherein, each MCU in the main module and the standby module corresponds to an address number;
the standby module is used for receiving the LVDT feedback signals acquired by the acquisition channels connected with the standby module, processing the LVDT feedback signals to acquire a processing result of the standby module, acquiring the state of each MCU in the standby module and the state of hardware corresponding to the standby module, and transmitting the states to the main module;
the state of the MCU is a state corresponding to any one of a plurality of preset level faults;
the system comprises a main module, a servo valve, a control module and a control module, wherein the main module is used for receiving an LVDT feedback signal acquired by an acquisition channel connected with the main module, processing the LVDT feedback signal to acquire a processing result of the main module, and transmitting the processing result of the main module to the servo valve connected with the main module; the state of each MCU in the main module and the state of hardware corresponding to the main module are obtained, and the main MCU in the main module is further determined based on the state of each MCU in the main module according to a preset voting logic architecture; and the main MCU controls the disconnection of the main module and the servo valve and the connection of the standby module and the servo valve according to the preset switching logic and the preset switching logic according to the state of each MCU in the main module, the hardware state corresponding to the main module and the hardware state corresponding to the standby module, and takes the standby module as a new main module.
Preferably, the method comprises the steps of,
the state of the hardware corresponding to the standby module comprises: the state of the acquisition channel and the state of the multi-channel output loop which are connected with the standby module;
the state of the hardware corresponding to the main module comprises: the state of the acquisition channel connected with the main module and the state of the servo output first circuit.
Preferably, the method comprises the steps of,
the processing result of the main module is the same as the processing result of the standby module;
the main module is in communication connection with the standby module.
Preferably, the method comprises the steps of,
the input end of each path of servo output first circuit in the main module is respectively connected with each MCU in the main module;
the output end of each servo output first circuit is connected with a servo valve;
the input end of each path of output loop in the standby module is respectively connected with each MCU;
and the output end of each output loop is disconnected from the servo valve.
Preferably, the method comprises the steps of,
the main MCU controls the disconnection of the main module and the servo valve and the connection of the standby module and the servo valve according to the preset switching logic and according to the state of each MCU in the main module, the hardware state corresponding to the main module and the hardware state corresponding to the standby module, and the standby module is used as a new main module, and the main MCU specifically comprises:
and the main MCU controls the output end of each servo output first circuit in the main module to be disconnected with the servo valve and controls the output end of each output loop in the standby module to be connected with the servo valve according to the preset switching logic according to the state of each MCU in the main module, the hardware state corresponding to the main module and the hardware state corresponding to the standby module.
Preferably, the method comprises the steps of,
the preset plurality of level faults comprise: first level fault, equal level fault, third level fault, fourth level fault, fifth level fault;
the first level fault is: no failure;
the second level fault is: the MCU reads the self address function fault;
the third level fault is: communication function of MCU is failed;
the fourth level fault is: the input function or the output function of the MCU is failed;
the fifth level of failure is: the MCU itself resets the functional failure.
Preferably, the method comprises the steps of,
the preset voting logic architecture comprises: and taking the MCU with the minimum address number and the state of the first-level fault in the main module as the main MCU.
Preferably, the method comprises the steps of,
the preset switching logic comprises:
when the hardware state corresponding to the main module fails, the disconnection between the main module and the servo valve and the connection between the standby module and the servo valve are controlled, and the standby module is used as a new main module;
when the state of any MCU in the main module is a fifth grade fault, the disconnection of the main module and the servo valve is controlled, the connection of the standby module and the servo valve is controlled, and the standby module is used as a new main module;
when the states of any two MCU in the main module are fourth-stage faults, the disconnection of the main module and the servo valve and the connection of the standby module and the servo valve are controlled, and the standby module is used as a new main module;
when any three MCU states in the main module are third-level faults or second-level faults, the disconnection of the main module and the servo valve is controlled, the connection of the standby module and the servo valve is controlled, and the standby module is used as a new main module.
Preferably, the system further comprises:
an alarm device;
the alarm device is respectively connected with the main module and the standby module and is used for sending an alarm signal when the main module controls the disconnection of the main module and the servo valve and the connection of the standby module and the servo valve according to preset switching logic; or the system is used for sending out an alarm signal when any MCU in the standby module fails or the state of the hardware corresponding to the standby module fails.
Preferably, the method comprises the steps of,
the number of the acquisition channels is 4;
the number of MCU in the main module is 3;
the number of MCUs in the standby module is 3;
the number of the servo output first circuits is 3;
the number of output loops is 3.
On the other hand, the invention also provides a redundant servo control method based on any one of the redundant servo control systems supporting online replacement, which comprises the following steps:
each acquisition channel in the plurality of acquisition channels respectively acquires a corresponding LVDT feedback signal and transmits the LVDT feedback signal to a main module connected with the servo valve and a standby module disconnected with the servo valve respectively;
the standby module is used for receiving LVDT feedback signals respectively transmitted by the acquisition channels, processing the LVDT feedback signals to obtain a processing result of the standby module, obtaining the state of each MCU in the standby module and transmitting the state to the main module;
the system comprises a main module, a servo valve, a control valve and a control valve, wherein the main module receives an LVDT feedback signal acquired by an acquisition channel connected with the main module, processes the LVDT feedback signal to acquire a processing result of the main module, and transmits the processing result of the main module to the servo valve connected with the main module;
the state of each MCU in the main module and the state of hardware corresponding to the main module are obtained, and the main MCU in the main module is further determined based on the state of each MCU in the main module according to a preset voting logic architecture;
and the main MCU controls the disconnection of the main module and the servo valve and the connection of the standby module and the servo valve according to the preset switching logic and the preset switching logic according to the state of each MCU in the main module, the hardware state corresponding to the main module and the hardware state corresponding to the standby module, and takes the standby module as a new main module.
(III) beneficial effects
The beneficial effects of the invention are as follows:
according to the redundant servo control system supporting online replacement, each acquisition channel is connected with the main module and the standby module respectively, so that the main module and the standby module can independently receive signals acquired by all the acquisition channels, and compared with the prior art, when the main module fails, the standby module can process the signals acquired by all the acquisition channels.
Furthermore, the redundant servo control system supporting online replacement is also provided with an alarm device, when the main module or the standby module fails, an alarm signal is sent, and on the premise of normal operation, the module and the acquisition channel can be replaced online without causing disturbance.
Furthermore, in the redundant servo control system supporting online replacement, the main MCU in the main module is determined by adopting the preset voting logic architecture, so that when one MCU of the main module fails, the failed MCU is not selected to carry out servo output control by adopting the preset voting logic architecture, and the servo output is ensured not to be suddenly changed.
According to the redundant servo control method supporting online replacement, each acquisition channel is connected with the main module and the standby module respectively, so that the main module and the standby module independently receive signals acquired by all the acquisition channels, and compared with the prior art, when the main module fails, the standby module can process the signals acquired by all the acquisition channels.
Drawings
FIG. 1 is a schematic diagram of a redundant servo control system supporting online replacement according to an embodiment of the present invention.
Detailed Description
The invention will be better explained by the following detailed description of the embodiments with reference to the drawings.
In order that the above-described aspects may be better understood, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
Referring to fig. 1, the present embodiment provides a redundant servo control system supporting online replacement, including:
a plurality of acquisition channels; in practical application of this embodiment, the number of acquisition channels in this embodiment is 4.
And each acquisition channel is used for acquiring a corresponding LVDT feedback signal and transmitting the LVDT feedback signal to a main module connected with the servo valve and a standby module disconnected with the servo valve respectively.
And the main module and the standby module are respectively connected with the plurality of acquisition channels.
The main module comprises: a plurality of MCU, multichannel servo output first circuit that interconnect communication connects;
the standby module includes: a plurality of MCU, multipath output loops which are connected with each other in a communication way;
wherein, each MCU in the main module and the standby module corresponds to an address number;
the standby module is used for receiving the LVDT feedback signals acquired by the acquisition channels connected with the standby module, processing the LVDT feedback signals to acquire a processing result of the standby module, acquiring the state of each MCU in the standby module and the state of hardware corresponding to the standby module, and transmitting the states to the main module;
the state of the MCU is a state corresponding to any one of a plurality of preset level faults;
the system comprises a main module, a servo valve, a control module and a control module, wherein the main module is used for receiving an LVDT feedback signal acquired by an acquisition channel connected with the main module, processing the LVDT feedback signal to acquire a processing result of the main module, and transmitting the processing result of the main module to the servo valve connected with the main module; the state of each MCU in the main module and the state of hardware corresponding to the main module are obtained, and the main MCU in the main module is further determined based on the state of each MCU in the main module according to a preset voting logic architecture; and the main MCU controls the disconnection of the main module and the servo valve and the connection of the standby module and the servo valve according to the preset switching logic and the preset switching logic according to the state of each MCU in the main module, the hardware state corresponding to the main module and the hardware state corresponding to the standby module, and takes the standby module as a new main module.
In an actual application of this embodiment, a processing result of the primary module is the same as a processing result of the standby module.
The main module is in communication connection with the standby module.
In practical application of this embodiment, the standby module receives LVDT feedback signals respectively transmitted by the plurality of acquisition channels, performs high-selection, low-selection, average and other processes, and obtains a processing result of the standby module.
In practical application of the embodiment, the main module can receive LVDT feedback signals respectively transmitted by the plurality of acquisition channels, perform high-selection, low-selection, average and other processes, and obtain a processing result of the main module.
In this embodiment, the number of MCUs in the master module is 3.
The number of servo output first circuits is 3.
The input end of each path of servo output first circuit is connected with each MCU in the main module respectively.
The output end of each servo output first circuit is connected with a servo valve.
In this embodiment, the state of the hardware corresponding to the standby module includes: the state of the acquisition channel connected with the standby module and the state of the multi-output loop.
The state of the hardware corresponding to the main module comprises: the state of the acquisition channel connected with the main module and the state of the servo output first circuit.
In this embodiment, the main MCU controls disconnection of the main module and the servo valve and controls connection of the standby module and the servo valve according to a preset switching logic according to a state of each MCU in the main module, a hardware state corresponding to the main module and a hardware state corresponding to the standby module, and the standby module is used as a new main module, and specifically includes:
and the main MCU controls the output end of each servo output first circuit in the main module to be disconnected with the servo valve and controls the output end of each output loop in the standby module to be connected with the servo valve according to the preset switching logic according to the state of each MCU in the main module, the hardware state corresponding to the main module and the hardware state corresponding to the standby module.
The preset multiple level faults in this embodiment include: first level fault, third level fault, fourth level fault, fifth level fault.
The first level fault is: there is no failure.
The second level fault is: the MCU reads the self address function fault.
The third level fault is: the communication function of the MCU fails.
The fourth level fault is: the input function or the output function of the MCU is failed.
The fifth level of failure is: the MCU itself resets the functional failure.
The preset voting logic architecture in this embodiment includes: and taking the MCU with the minimum address number and the state of the first-level fault in the main module as the main MCU.
In this embodiment, the process of "controlling the disconnection of the multi-path servo output circuit and the servo valve according to the preset switching logic and controlling the connection of the standby module and the servo valve and using the standby module as the new main module" is the switching process of the main module and the standby module, and the switching process time can be completed within 1 millisecond. And the hot standby redundancy and the rapid hardware switching of the module ensure that the disturbance of the servo output is extremely small, so that the stroke fluctuation of the servo valve is extremely small.
For example, in this embodiment, there are 3 MCUs in the main module, and only the 3 MCUs have the right to control the disconnection of the multi-path servo output circuit and the servo valve according to the preset switching logic and control the connection of the standby module and the servo valve, and take the standby module as a new main module, in this embodiment, the main MCU determines the main MCU in the main module according to the preset voting logic architecture through the state of each MCU in the main module.
In this embodiment, the standby module includes: a plurality of MCU, the multiplexing output return circuit of intercommunication connection.
The number of MCUs in the standby module is 3.
The number of output loops is 3.
The input end of each path of output loop is connected with each MCU respectively; and the output end of each output loop is disconnected from the servo valve.
In practical application of the embodiment, any one of the standby modules is configured to collect corresponding LVDT feedback signals transmitted by the plurality of collection channels, and process the feedback signals to obtain a processing result of the standby module; and the system is also used for acquiring the state of each MCU in the standby module and the state of the hardware corresponding to the standby module and transmitting the states to the main module.
In this embodiment, all the 3 paths of servo signals of the main module have output, the standby module has no servo output, but an output loop exists in the standby servo module, and the output value is consistent with that of the main module, so that a hot standby redundancy state is achieved.
In an actual application of this embodiment, the preset switching logic includes:
when the hardware state corresponding to the main module fails, the main module is disconnected from the servo valve, the connection between the standby module and the servo valve is controlled, and the standby module is used as a new main module.
When the state of any MCU in the main module is a fifth grade fault, the disconnection of the main module and the servo valve is controlled, the connection of the standby module and the servo valve is controlled, and the standby module is used as a new main module.
When any two MCU states in the main module are fourth-stage faults, the disconnection of the main module and the servo valve is controlled, the connection of the standby module and the servo valve is controlled, and the standby module is used as a new main module.
When any three MCU states in the main module are third-level faults or second-level faults, the disconnection of the main module and the servo valve is controlled, the connection of the standby module and the servo valve is controlled, and the standby module is used as a new main module.
In a practical application of this embodiment, the system further includes: and an alarm device.
The alarm device is respectively connected with the main module and the standby module and is used for sending an alarm signal when the main module controls the disconnection of the main module and the servo valve and the connection of the standby module and the servo valve according to preset switching logic; or the MCU in the standby module is used for sending out an alarm signal when the MCU in the standby module fails or the state of the hardware corresponding to the standby module fails.
According to the redundant servo control system supporting online replacement, each acquisition channel is connected with the main module and the standby module respectively, so that the main module and the standby module can independently receive signals acquired by all the acquisition channels, and compared with the prior art, when the main module fails, the standby module can process the signals acquired by all the acquisition channels.
Furthermore, the redundant servo control system supporting online replacement is also provided with an alarm device, when the main module or the standby module fails, an alarm signal is sent, and on the premise of normal operation, the module and the acquisition channel can be replaced online without causing disturbance.
The embodiment also provides a redundant servo control method of a redundant servo control system supporting online replacement based on any one of the above, the method comprising:
each acquisition channel in the plurality of acquisition channels respectively acquires a corresponding LVDT feedback signal and transmits the LVDT feedback signal to a main module connected with the servo valve and a standby module disconnected with the servo valve respectively;
the standby module is used for receiving LVDT feedback signals respectively transmitted by the acquisition channels, processing the LVDT feedback signals to obtain a processing result of the standby module, obtaining the state of each MCU in the standby module and transmitting the state to the main module;
the system comprises a main module, a servo valve, a control valve and a control valve, wherein the main module receives an LVDT feedback signal acquired by an acquisition channel connected with the main module, processes the LVDT feedback signal to acquire a processing result of the main module, and transmits the processing result of the main module to the servo valve connected with the main module;
the state of each MCU in the main module and the state of hardware corresponding to the main module are obtained, and the main MCU in the main module is further determined based on the state of each MCU in the main module according to a preset voting logic architecture;
and the main MCU controls the disconnection of the main module and the servo valve and the connection of the standby module and the servo valve according to the preset switching logic and the preset switching logic according to the state of each MCU in the main module, the hardware state corresponding to the main module and the hardware state corresponding to the standby module, and takes the standby module as a new main module.
In the redundant servo control system supporting online replacement in this embodiment, since a preset voting logic architecture is adopted to determine the main MCU in the main module, when a certain MCU in the main module fails, the failed MCU will not be selected to perform servo output control due to the adoption of the preset voting logic architecture, so that the servo output is ensured not to have abrupt change.
In the description of the present invention, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium; may be a communication between two elements or an interaction between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature is "on" or "under" a second feature, which may be in direct contact with the first and second features, or in indirect contact with the first and second features via an intervening medium. Moreover, a first feature "above," "over" and "on" a second feature may be a first feature directly above or obliquely above the second feature, or simply indicate that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is level lower than the second feature.
In the description of the present specification, the terms "one embodiment," "some embodiments," "examples," "particular examples," or "some examples," etc., refer to particular features, structures, materials, or characteristics described in connection with the embodiment or example as being included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that alterations, modifications, substitutions and variations may be made in the above embodiments by those skilled in the art within the scope of the invention.
Claims (10)
1. A redundant servo control system supporting online replacement, comprising:
the main module and the standby module are respectively connected with the plurality of acquisition channels;
the acquisition channel is used for acquiring corresponding LVDT feedback signals and transmitting the LVDT feedback signals to a main module connected with the servo valve and a standby module disconnected with the servo valve respectively;
the main module comprises: a plurality of MCU, multichannel servo output first circuit that interconnect communication connects;
the standby module includes: a plurality of MCU, multipath output loops which are connected with each other in a communication way;
wherein, each MCU in the main module and the standby module corresponds to an address number;
the standby module is used for receiving the LVDT feedback signals acquired by the acquisition channels connected with the standby module, processing the LVDT feedback signals to acquire a processing result of the standby module, acquiring the state of each MCU in the standby module and the state of hardware corresponding to the standby module, and transmitting the states to the main module;
the state of the MCU is a state corresponding to any one of a plurality of preset level faults;
the system comprises a main module, a servo valve, a control module and a control module, wherein the main module is used for receiving an LVDT feedback signal acquired by an acquisition channel connected with the main module, processing the LVDT feedback signal to acquire a processing result of the main module, and transmitting the processing result of the main module to the servo valve connected with the main module; the state of each MCU in the main module and the state of hardware corresponding to the main module are obtained, and the main MCU in the main module is further determined based on the state of each MCU in the main module according to a preset voting logic architecture; and the main MCU controls the disconnection of the main module and the servo valve and the connection of the standby module and the servo valve according to the preset switching logic and the preset switching logic according to the state of each MCU in the main module, the hardware state corresponding to the main module and the hardware state corresponding to the standby module, and takes the standby module as a new main module.
2. The control system of claim 1, wherein the control system is configured to control the control system,
the state of the hardware corresponding to the standby module comprises: the state of the acquisition channel and the state of the multi-channel output loop which are connected with the standby module;
the state of the hardware corresponding to the main module comprises: the state of the acquisition channel connected with the main module and the state of the servo output first circuit.
3. The control system of claim 2, wherein the control system is configured to control the control system,
the processing result of the main module is the same as the processing result of the standby module;
the main module is in communication connection with the standby module.
4. The control system of claim 3, wherein the control system,
the input end of each path of servo output first circuit in the main module is respectively connected with each MCU in the main module;
the output end of each servo output first circuit is connected with a servo valve;
the input end of each path of output loop in the standby module is respectively connected with each MCU;
and the output end of each output loop is disconnected from the servo valve.
5. The control system of claim 4, wherein the control system is configured to control the control system,
the main MCU controls the disconnection of the main module and the servo valve and the connection of the standby module and the servo valve according to the preset switching logic and according to the state of each MCU in the main module, the hardware state corresponding to the main module and the hardware state corresponding to the standby module, and the standby module is used as a new main module, and the main MCU specifically comprises:
and the main MCU controls the output end of each servo output first circuit in the main module to be disconnected with the servo valve and controls the output end of each output loop in the standby module to be connected with the servo valve according to the preset switching logic according to the state of each MCU in the main module, the hardware state corresponding to the main module and the hardware state corresponding to the standby module.
6. The control system of claim 5, wherein the control system is configured to control the control system,
the preset plurality of level faults comprise: first level fault, second level fault, third level fault, fourth level fault, fifth level fault;
the first level fault is: no failure;
the second level fault is: the MCU reads the self address function fault;
the third level fault is: communication function of MCU is failed;
the fourth level fault is: the input function or the output function of the MCU is failed;
the fifth level of failure is: the MCU itself resets the functional failure.
7. The control system of claim 6, wherein the control system is configured to control the control system,
the preset voting logic architecture comprises: and taking the MCU with the minimum address number and the state of the first-level fault in the main module as the main MCU.
8. The control system of claim 7, wherein the control system,
the preset switching logic comprises:
when the hardware state corresponding to the main module fails, the disconnection between the main module and the servo valve and the connection between the standby module and the servo valve are controlled, and the standby module is used as a new main module;
when the state of any MCU in the main module is a fifth grade fault, the disconnection of the main module and the servo valve is controlled, the connection of the standby module and the servo valve is controlled, and the standby module is used as a new main module;
when the states of any two MCU in the main module are fourth-stage faults, the disconnection of the main module and the servo valve and the connection of the standby module and the servo valve are controlled, and the standby module is used as a new main module;
when any three MCU states in the main module are third-level faults or second-level faults, the disconnection of the main module and the servo valve is controlled, the connection of the standby module and the servo valve is controlled, and the standby module is used as a new main module.
9. The control system of claim 8, wherein the system further comprises:
an alarm device;
the alarm device is respectively connected with the main module and the standby module and is used for sending an alarm signal when the main module controls the disconnection of the main module and the servo valve and the connection of the standby module and the servo valve according to preset switching logic; or, when any MCU in the standby module fails or the state of the hardware corresponding to the standby module fails, an alarm signal is sent.
10. A redundant servo control method based on the redundant servo control system supporting on-line replacement according to any one of claims 1 to 9, characterized in that the method comprises:
each acquisition channel in the plurality of acquisition channels respectively acquires a corresponding LVDT feedback signal and transmits the LVDT feedback signal to a main module connected with the servo valve and a standby module disconnected with the servo valve respectively;
the standby module is used for receiving LVDT feedback signals respectively transmitted by the acquisition channels, processing the LVDT feedback signals to obtain a processing result of the standby module, obtaining the state of each MCU in the standby module and transmitting the state to the main module;
the system comprises a main module, a servo valve, a control valve and a control valve, wherein the main module receives an LVDT feedback signal acquired by an acquisition channel connected with the main module, processes the LVDT feedback signal to acquire a processing result of the main module, and transmits the processing result of the main module to the servo valve connected with the main module;
the state of each MCU in the main module and the state of hardware corresponding to the main module are obtained, and the main MCU in the main module is further determined based on the state of each MCU in the main module according to a preset voting logic architecture;
and the main MCU controls the disconnection of the main module and the servo valve and the connection of the standby module and the servo valve according to the preset switching logic and the preset switching logic according to the state of each MCU in the main module, the hardware state corresponding to the main module and the hardware state corresponding to the standby module, and takes the standby module as a new main module.
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