CN113791923B - Fault detection and fault processing method for underwater vehicle - Google Patents
Fault detection and fault processing method for underwater vehicle Download PDFInfo
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- G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
- G06F11/0703—Error or fault processing not based on redundancy, i.e. by taking additional measures to deal with the error or fault not making use of redundancy in operation, in hardware, or in data representation
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Abstract
The invention belongs to the technical field of fault detection and fault processing of an underwater vehicle control system, and particularly relates to a fault detection and fault processing method of the underwater vehicle control system, wherein the control system comprises the following steps: a master control node and a plurality of controlled nodes; comprising the following steps: the master control node sends a broadcasting instruction of a period T to the controlled node through a digital bus; the main control node judges and generates a corresponding fault record according to the response condition and response content of the controlled node, and stores the fault record as record-level fault data to finish fault detection of the controlled node; the main control node maps the record level fault data to the corresponding processing level fault data in real time according to an externally issued debugging and real-time navigation conversion instruction, and the main control node adopts a fault active processing method to process the fault according to the content of the processing level fault data; the controlled node detects the communication state between the controlled node and the main control node, judges the communication fault, and carries out the passive fault processing by the controlled node.
Description
Technical Field
The invention belongs to the technical field of fault detection and fault processing of an underwater vehicle control system, and particularly relates to a fault detection and fault processing method of the underwater vehicle control system.
Background
With the increasing maturity and wide use of digital and modularized design technology, the controlled nodes in the underwater vehicle such as a propulsion motor driver, a rudder motor driver, a battery management system (Battery Management System, BMS) component, an inertial navigation sensor, a pressure gauge and the like are not designed in a tight coupling mode, but are subjected to data exchange through a digital bus, and the digital bus is established and used, so that the functional design of each controlled node in the underwater vehicle is independent, the design and manufacturing difficulty is reduced, and the maintenance and upgrading cost is reduced.
Motion control is one of the core functions of an underwater vehicle, and in the digital communication process of a control system, data acquisition and instruction control work of a main control node arranged on a main CPU (Central Processing Unit, abbreviated as a central processing unit) of the underwater vehicle control system on each controlled node is realized through a digital bus (namely digital communication). In order to ensure reliable operation of the underwater vehicle, the faults generated by the control system need to be monitored in real time, and corresponding fault processing is performed when faults corresponding to the fault types occur.
However, the existing fault processing method is single and limited, has no universality, greatly reduces the working efficiency, and cannot perform fault detection and fault processing on a plurality of controlled nodes at the same time.
Disclosure of Invention
The invention provides a widely applicable and easily-extensible fault detection and processing method, wherein a control system comprises the following steps: a master control node and a plurality of controlled nodes; the master control node and the controlled node carry out master-slave communication through a digital bus; performing fault detection and fault processing on the internal communication of the control system and each controlled node at the same time;
aiming at a certain controlled node arranged in the underwater vehicle, the main control node is communicated with the controlled node internally through a digital bus, and the method is adopted to detect and process faults of the controlled node;
the method comprises the following steps:
the master control node sends a broadcasting instruction of a period T to the controlled node through a digital bus;
the main control node judges and generates a corresponding fault record according to the response condition and response content of the controlled node, and stores the fault record as record-level fault data to finish fault detection of the controlled node;
the main control node maps the record level fault data to the corresponding processing level fault data in real time according to an externally issued debugging and real-time navigation conversion instruction, and the main control node adopts a fault active processing method to process the fault according to the content of the processing level fault data;
the controlled node detects the communication state between the controlled node and the main control node, judges the communication fault, and carries out the passive fault processing by the controlled node.
As an improvement of the above technical solution, before implementing the method, the method further includes: defining a 32-bit CER variable, a 32-bit UER variable, a 32-bit DER variable, a 32-bit CED variable, a 32-bit UED variable, and a 32-bit DED variable;
a CER variable of 32 bits as a buffer for record level communication failures;
a 32-bit UER variable as a buffer for the recording-level data update exception fault;
a 32-bit DER variable serving as a buffer for recording-level data abnormal faults;
the CED variable of 32 bits is used as a cache of the processing-level communication fault, and the processing-level mapping of the CER variable is corresponding;
a 32-bit UED variable is used as a buffer for updating abnormal faults of the processing level data, and the processing level mapping of the corresponding UER variable is performed;
the DED variable of 32 bits is used as a cache of the abnormal faults of the processing level data, and the processing level mapping of the DER variable is corresponding;
the data bits in the 32-bit CER variable are mapped one-to-one with the data bits in the 32-bit CED variable;
the data bits in the 32-bit UER variable are mapped one-to-one with the data bits in the 32-bit UED variable;
the data bits in the 32-bit DER variable are mapped one-to-one with the data bits in the 32-bit DED variable;
the various variables are reset to 0 upon initialization.
As one of the improvements of the above technical scheme, the master control node decides and generates a corresponding fault record according to the response condition and response content of the controlled node, and stores the fault record as record-level fault data to complete fault detection of the controlled node; the specific process is as follows:
the main control node judges and generates a communication fault record according to the response condition of the controlled node, and stores the communication fault record as record-level communication fault data to determine the fault type as a communication fault;
and the main control node judges and generates a functional fault record according to the response content of the controlled node, stores the functional fault record as record-level functional fault data, and determines the type of the fault as a functional fault.
As one of the improvements of the above technical scheme, the master control node decides and generates a communication fault record according to the response condition of the controlled node, and stores the communication fault record as record-level communication fault data to determine that the fault type is a communication fault; the specific process is as follows:
the master control node sends a broadcasting instruction with the period of T to the controlled node, and the controlled node responds;
if the response of the controlled node is detected in the period T, the main control node controls the value of the communication anomaly counter corresponding to the controlled node to be clear 0;
if the response of the controlled node is not detected in the period T, the main control node controls the value of the communication anomaly counter corresponding to the controlled node to be increased by 1;
counting the numerical value of the communication anomaly counter, recording the numerical value as a statistical value, and comparing the statistical value with a preset threshold value;
if the statistical value is greater than or equal to a preset threshold value, setting the bit value of the data bit corresponding to the controlled node in the CER variable of 32 bits to be 1, generating a communication fault record, updating the record-level communication fault data, storing, and determining the fault type as a communication fault;
if the statistic is smaller than the preset threshold value, no processing is performed.
As one of the improvements of the above technical scheme, the master control node decides and generates a functional fault record according to the response content of the controlled node, and stores the functional fault record as record-level functional fault data to determine that the fault type is a functional fault; the specific process is as follows:
the master control node sends a broadcasting instruction with the period of T to the controlled node, and the controlled node responds;
if the response of the controlled node is detected in the period T, recording the response content of the controlled node in the current period as the function data of the response, recording the response content as the function data of the current period, and judging whether the function data of the current period is the same as the function data of the previous period;
if the function data of the current period is different from the function data of the previous period, the main control node controls the value of the data refreshing exception counter corresponding to the controlled node to be 0;
if the function data of the current period is the same as the function data of the previous period, the main control node controls the value of the data refreshing abnormal counter corresponding to the controlled node to be added with 1;
counting the numerical value of the data refreshing abnormal counter, recording the numerical value as a refreshing statistical value, and comparing the refreshing statistical value with a preset refreshing threshold value;
if the refresh statistic value is smaller than a preset refresh threshold value, not performing any processing;
if the refresh statistical value is greater than or equal to a preset refresh threshold value, setting the bit value of the data bit corresponding to the controlled node in the 32-bit UER variable to be 1, generating a data refresh abnormal fault record, updating the data refresh fault data of the record data, storing, and determining the fault type as the data refresh abnormal in the functional fault;
meanwhile, judging whether the functional data of the current period exceeds a preset boundary range or not;
if the functional data in the current period exceeds the preset boundary range, setting the bit value of the data bit corresponding to the controlled node in the 32-bit DER variable to be 1, generating a data abnormal fault record, updating the record-level data abnormal fault data, storing, and determining the fault type as the data abnormality in the functional fault;
if the functional data of the current period does not exceed the preset boundary range, no processing is performed.
As one of the improvements of the above technical solution, the main control node maps the recording level fault data to the corresponding processing level fault data in real time according to the debug-to-real navigation instruction issued by the outside, and the main control node adopts a fault active processing method to process the fault according to the content of the processing level fault data; the specific process is as follows:
when the external issuing of the instruction to debug the transition to real navigation, each cycle thereafter operates as follows:
updating the record level communication fault data copy to the processing level communication fault data, in particular updating the data bit copy of the CER variable to the data bit of the CED variable;
updating the record level data refresh fault data copy to the processing level data refresh fault data, in particular updating the data bit copy of the UER variable to the data bit of the UED variable;
copying and updating the recording-level data abnormal fault data to the processing-level data abnormal fault data, and particularly copying the data bit update of the DER variable to the data bit of the DED variable;
if the data bit of the CED variable, the data bit of the UED variable or the arbitrary position of the data bit of the DED variable is larger than 0, adopting a fault active processing method to process the fault;
if all positions of the data bit of the CED variable, the data bit of the UED variable or the data bit of the DED variable are equal to 0, no processing is performed;
as an improvement of the foregoing technical solution, the method further includes: each controlled node detects the communication state between the controlled node and the main control node, judges and generates a communication fault record according to the detected receiving condition of the main control node periodically sending a broadcast instruction, stores the communication fault record on the controlled node, and determines the fault type as a communication fault; and the controlled node adopts a fault passive processing method to process the fault according to the function type of the controlled node.
As one of the improvements of the above technical solution, each controlled node detects the communication state between the controlled node and the master control node, and according to the detected receiving condition of the master control node periodically sending the broadcast instruction, decides and generates a communication fault record, stores the communication fault record on the controlled node, and determines the fault type as a communication fault; the controlled node adopts a fault passive processing method to process faults according to the function type of the controlled node; the specific process is as follows:
a timer with the same period T as the broadcast instruction of the main control node and a passive communication anomaly counter are arranged in the controlled node;
if the controlled node detects a main control node broadcasting instruction in a timer period T, the value of a passive communication anomaly counter arranged in the controlled node is clear 0;
if the controlled node does not detect the main control node broadcasting instruction in the timer period T, the value of a passive communication anomaly counter arranged in the controlled node is increased by 1;
counting the numerical value of the communication anomaly counter, recording the numerical value as a statistical value, and comparing the statistical value with a preset threshold value;
if the statistical value is greater than or equal to a preset threshold value, generating a communication fault record and storing the communication fault record on the controlled node, and determining the fault type as a communication fault; the controlled node adopts a fault passive processing method to process the fault according to the self function type
If the statistic is smaller than the preset threshold value, no processing is performed.
Compared with the prior art, the invention has the beneficial effects that:
the method can detect and process faults of each controlled node arranged in the underwater vehicle in real time, has universal applicability, can flexibly expand along with the expansion of the functions of the vehicle, is convenient and simple and is easy to realize, and the working efficiency is greatly improved; meanwhile, the method of the invention can be also suitable for any electronic equipment with digital buses for master-slave communication, and has universality.
Drawings
FIG. 1 is a schematic view of the structure of fault types and fault handling involved in an underwater vehicle fault detection and fault handling method of the present invention;
FIG. 2 is a block diagram of an underwater vehicle control system to which the present invention is applicable;
FIG. 3 is an internal block diagram of an underwater vehicle in a method of detecting and processing a fault of an underwater vehicle according to the present invention;
fig. 4 is a detection flow chart of fault detection in an underwater vehicle fault detection and fault handling method of the present invention.
Detailed Description
The invention will now be further described with reference to the accompanying drawings and examples.
As shown in fig. 1 and 2, the present invention also provides a fault detection and fault handling method for an underwater vehicle,
the control system includes: a master control node and a plurality of controlled nodes; the master control node and the controlled node carry out master-slave communication through a digital bus; performing fault detection and fault processing on the internal communication of the control system and each controlled node at the same time;
the main control node and the controlled nodes correspond to all controlled nodes arranged in the underwater vehicle; the controlled node with the main control function is the main control node, and the controlled node controlled by the main control node is the controlled node.
Aiming at a certain controlled node arranged in the underwater vehicle, the main control node is communicated with the controlled node internally through a digital bus, and the method is adopted to detect and process faults of the controlled node;
the method comprises the following steps:
step 1), a main control node sends a broadcasting instruction of a period T to a controlled node through a digital bus;
step 2) the main control node judges and generates a corresponding fault record according to the response condition and response content of the controlled node, and stores the fault record as record-level fault data to finish fault detection of the controlled node;
specifically, the main control node judges and generates a communication fault record according to the response condition of the controlled node, and stores the communication fault record as record-level communication fault data to determine the fault type as a communication fault;
specifically, the master control node sends a broadcasting instruction with a period of T to the controlled node, and the controlled node responds;
if the response of the controlled node is detected in the period T, the main control node controls the value of the communication anomaly counter corresponding to the controlled node to be clear 0;
if the response of the controlled node is not detected in the period T, the main control node controls the value of the communication anomaly counter corresponding to the controlled node to be increased by 1; wherein the communication anomaly counter is arranged on the main control node;
counting the numerical value of the communication anomaly counter, recording the numerical value as a statistical value, and comparing the statistical value with a preset threshold value;
if the statistical value is greater than or equal to a preset threshold value, setting the bit value of the data bit corresponding to the controlled node in the CER variable of 32 bits to be 1, generating a communication fault record, updating the record-level communication fault data, storing, and determining the fault type as a communication fault; wherein the stored communication fault record is stored on the master control node;
if the statistic is smaller than the preset threshold value, no processing is performed.
In this embodiment, the communication anomaly counter is CntCommM; the communication anomaly counter is initialized and reset to 0.
And the main control node judges and generates a functional fault record according to the response content of the controlled node, stores the functional fault record as record-level functional fault data, and determines the type of the fault as a functional fault.
Specifically, the master control node sends a broadcasting instruction with a period of T to the controlled node, and the controlled node responds;
if the response of the controlled node is detected in the period T, recording the response content of the controlled node in the current period as the function data of the response, recording the response content as the function data of the current period, and judging whether the function data of the current period is the same as the function data of the previous period;
if the functional data in the current period is different from the functional data in the previous period, the main control node controls the value of the data refreshing abnormal counter corresponding to the controlled node to be 0;
if the function data of the current period is the same as the function data of the previous period, the main control node controls the value of the data refreshing exception counter corresponding to the controlled node to be added with 1; the data refreshing exception counter is arranged on the main control node;
counting the numerical value of the data refreshing abnormal counter, recording the numerical value as a refreshing statistical value, and comparing the refreshing statistical value with a preset refreshing threshold value;
if the refresh statistic value is smaller than a preset refresh threshold value, not performing any processing;
if the refresh statistical value is greater than or equal to a preset refresh threshold value, setting the bit value of the data bit corresponding to the controlled node in the 32-bit UER variable to be 1, generating a data refresh abnormal fault record, updating the data refresh fault data of the record data, storing, and determining the fault type as the data refresh abnormal in the functional fault; wherein the stored data refresh failure data is stored on the master control node;
meanwhile, judging whether the functional data of the current period exceeds a preset boundary range or not;
if the functional data in the current period exceeds the preset boundary range, setting the bit value of the data bit corresponding to the controlled node in the 32-bit DER variable to be 1, generating a data abnormal fault record, updating the record-level data abnormal fault data, storing, and determining the fault type as the data abnormality in the functional fault; wherein the stored data exception fault data is stored on the master control node;
if the functional data of the current period does not exceed the preset boundary range, no processing is performed.
In this embodiment, the data refresh exception counter is CntUpdateM, which is reset to 0 during initialization; resetting to 0 when initializing the functional data;
step 3) the main control node maps the record level fault data to the corresponding processing level fault data in real time according to the externally issued debugging and real-time navigation conversion instruction, and the main control node adopts a fault active processing method to process the fault according to the content of the processing level fault data; specifically, when an instruction to debug a real navigation is issued externally, each cycle thereafter performs the following operations:
updating the record level communication fault data copy to the processing level communication fault data, in particular updating the data bit copy of the CER variable to the data bit of the CED variable;
updating the record level data refresh fault data copy to the processing level data refresh fault data, in particular updating the data bit copy of the UER variable to the data bit of the UED variable;
copying and updating the recording-level data abnormal fault data to the processing-level data abnormal fault data, and particularly copying the data bit update of the DER variable to the data bit of the DED variable;
if the data bit of the CED variable, the data bit of the UED variable or the arbitrary position of the data bit of the DED variable is larger than 0, adopting a fault active processing method to process the fault;
if all positions of the data bit of the CED variable, the data bit of the UED variable or the data bit of the DED variable are equal to 0, no processing is performed;
and 4) the controlled node detects the communication state of the controlled node and the main control node, judges the communication fault and carries out the passive fault processing by the controlled node.
The method further comprises the steps of: step 5) each controlled node detects the communication state between the controlled node and the main control node, judges and generates a communication fault record according to the detected receiving condition of the main control node periodically sending a broadcast instruction, stores the communication fault record on the controlled node, and determines the fault type as a communication fault; and the controlled node adopts a fault passive processing method to process the fault according to the function type of the controlled node.
The step is to consider that when the communication between the main control node and the controlled node is disconnected, the main control node cannot acquire the response condition of the controlled node, at the moment, the controlled node needs to judge the communication fault according to the timer and the passive communication abnormal counter which are arranged in the main control node, and the controlled node completes the fault processing, and the process is not controlled by the main control node, so the process is called as the fault passive processing.
Specifically, a timer with the same period T as the broadcast instruction of the main control node and a passive communication anomaly counter are arranged in the controlled node;
if the controlled node detects a main control node broadcasting instruction in a timer period T, the value of a passive communication anomaly counter arranged in the controlled node is clear 0;
if the controlled node does not detect the main control node broadcasting instruction in the timer period T, the value of a passive communication anomaly counter arranged in the controlled node is increased by 1;
counting the numerical value of the communication anomaly counter, recording the numerical value as a statistical value, and comparing the statistical value with a preset threshold value;
if the statistical value is greater than or equal to a preset threshold value, generating a communication fault record and storing the communication fault record on the controlled node, and determining the fault type as a communication fault; the controlled node adopts a fault passive processing method to process the fault according to the self function type
If the statistic is smaller than the preset threshold value, no processing is performed.
Wherein prior to implementing the method, the method further comprises: defining a 32-bit CER variable, a 32-bit UER variable, a 32-bit DER variable, a 32-bit CED variable, a 32-bit UED variable, and a 32-bit DED variable;
32-bit CER variable (variable of Commerrreport) as a buffer for record level communication failures;
32-bit UER variable (updatererrecor ord variable) as a buffer for updating an abnormal fault in the recording-level data;
32-bit DER variable (DataErrRicap variable) as a buffer for recording-level data exception faults;
32-bit CED variable (CommErrDeal variable), a processing level map of the corresponding CER variable;
32-bit UED variable (updatererdeal variable), corresponding to the processing level mapping of UER variables;
32-bit DED variable (DataErrDeal variable), a processing level map of the corresponding DER variable;
the data bits in the 32-bit CER variable are mapped one-to-one with the data bits in the 32-bit CED variable;
the data bits in the 32-bit UER variable are mapped one-to-one with the data bits in the 32-bit UED variable;
the data bits in the 32-bit DER variable are mapped one-to-one with the data bits in the 32-bit DED variable;
the various variables are reset to 0 upon initialization.
The method comprises the steps that the judgment of the communication fault type does not need to detect data, and only needs to detect whether a controlled node responds or not; the type of the functional failure needs to judge a specific numerical value, and if the number is not found, the type of the functional failure is judged to be the communication failure.
The method from the step 1) to the step 4) is adopted for each controlled node arranged in the underwater vehicle, so that fault detection can be carried out on each controlled node at the same time, and the working efficiency is greatly improved; meanwhile, the method of the invention can be suitable for any electronic equipment with digital buses for master-slave communication, and has universality.
In the method, the controlled nodes with different functions can be added according to the requirements, and the fault detection and the fault processing are simultaneously carried out on each controlled node in the underwater vehicle, so that the working efficiency is greatly improved.
Example 1.
In the system of the present invention, as shown in fig. 1, two types of fault types can be detected by using the method of the present invention: the method specifically comprises the steps of responding to functional data of corresponding controlled nodes after each controlled node in an underwater vehicle receives a broadcasting instruction by sending the broadcasting instruction in a period T, recording and counting response conditions of each controlled node every period, and if responses of the corresponding controlled nodes are not received in N periods continuously, judging that the controlled nodes generate communication faults; also, if the controlled node does not receive the broadcast instruction of the master control node for N consecutive periods, the controlled node is considered to have generated a communication failure.
In the fault type, the functional faults further comprise data updating anomalies and data anomalies. The data updating abnormality is generated by monitoring the function data of each controlled node, specifically, if the function data of the corresponding controlled node of the master control node in M continuous periods has no change, the controlled node is considered to generate the data updating abnormality, if the detected controlled node output data has a quick change characteristic, the value of M should be set smaller, if the detected controlled node output data has a slow change characteristic, the value of M should be set larger, and if the controlled node output change is very slow, the data refreshing detection can be not performed; wherein, the M value is a preset refreshing threshold value; the data abnormality is generated by monitoring whether the functional data of each controlled node exceeds a preset boundary range, and if the functional data of the controlled node is detected to exceed the preset boundary range for any 1 time, the controlled node is considered to generate the data abnormality.
In fault processing, a hierarchical recording structure is adopted for fault recording. The first stage is a recording stage and the second stage is a processing stage, which have the same data structure type. Each data bit in the record level structure corresponds to a fault source, the bit value of the data bit is 1, which indicates that the fault of the controlled node corresponding to the data bit is detected, the bit value of the data bit is 0, which indicates that the corresponding fault is not detected, and all bits are initialized to 0 during initialization; after certain conditions are met, if the underwater vehicle is changed from a debugging mode to a real-time navigation mode, the periodic copy of the data of the record level is updated to the data structure of the processing level, and at the moment, the data of the processing level is the mapping of the data of the record level.
In fault processing, processing-level data are monitored in real time, and when the processing-level data are detected to have data larger than 0, fault active processing is performed.
In fault processing, when each controlled node detects a communication fault in the communication fault detection process or detects data refreshing abnormality or data abnormality in the function fault detection process, a fault processing action of a predefined controlled node is executed, and the predefined fault processing mechanism of the controlled node is not controlled by a main control node and is used for passively processing the fault.
Example 2.
As shown in fig. 3, the underwater vehicle adopted in the present embodiment is a basic electric underwater vehicle, and the main control CPU corresponding to the main control node communicates with a propulsion motor driver (hereinafter referred to as a propeller), a rudder motor driver (hereinafter referred to as a steering engine), a battery BMS assembly (hereinafter referred to as a battery), an inertial navigation sensor (hereinafter referred to as inertial navigation), and a pressure sensor (hereinafter referred to as a pressure gauge) through a digital bus. The propeller, the steering engine, the battery, the inertial navigation and the manometer are all components arranged in the underwater vehicle, and each component is used as a corresponding controlled node in the embodiment; the master control CPU and each controlled node are communicated in a master-slave mode through a digital bus; performing fault detection and fault processing on the internal communication of the control system and each controlled node at the same time;
before the method is implemented, a 32-bit variable named CommErrRicceord is defined and used as a buffer memory for recording-level communication faults, wherein bit0 corresponds to a propeller, bit1 corresponds to a steering engine, bit2 corresponds to a battery, bit3 corresponds to inertial navigation, and bit4 corresponds to a pressure gauge.
And defining a 32-bit variable named UpdateErrRicrord as a buffer for updating abnormal faults of recording data, wherein bit0 corresponds to a propeller, bit1 corresponds to a steering engine, bit2 corresponds to a battery, bit3 corresponds to inertial navigation, and bit4 corresponds to a pressure gauge.
And defining a variable with the name of DataErrRicerd of 32 bits as a buffer memory for abnormal faults of recording data, wherein bit0 corresponds to a propeller, bit1 corresponds to a steering engine, bit2 corresponds to a battery, bit3 corresponds to inertial navigation, and bit4 corresponds to a pressure gauge.
Defining a 32-bit CommErrDeal variable, corresponding to a processing level mapping of CommErrRecord variables; defining 32-bit UpdateErrDeal variable, and corresponding to a processing level mapping of the UpdateErrRecord variable; a32-bit DataErrDeal variable is defined, corresponding to the processing level map of the DataErrRecord variable.
All the above variables are reset to 0 at system initialization.
The main control node sends a broadcast instruction with 20 milliseconds as a period, each corresponding controlled node immediately responds to functional data after receiving the broadcast instruction, the main control node sets a corresponding communication anomaly counter for each controlled node, the response condition of each controlled node is detected at the end of the period, if the response of the controlled node is not received in the period, the corresponding communication anomaly counter of the controlled node is increased by 1, if the communication anomaly counter is greater than or equal to 10 (N=10 in the predefining is a preset threshold value), the bit value of the corresponding data bit in the Commerrrecord is set to 1, and if the response of the controlled node is received in the period, the corresponding communication anomaly counter is cleared to 0. For example, if the communication exception counter corresponding to the current propeller is 9 and the response of the propeller is not received in the current period, the communication exception counter of the propeller is increased by 1, and is 10 at this time, and if the communication exception counter of the propeller is more than or equal to 10, bit0 of Commerrrcord is set to 1; if the current period receives the response of the propeller, the communication anomaly counter of the propeller is cleared to 0.
In the same way, the main control node sends a broadcast instruction with 20 ms as a period, each corresponding controlled node immediately responds to the function data, a corresponding data refreshing exception counter is set on each controlled node, the response content of each controlled node is detected at the end of the period and used as the responding function data, if the function data of the period is unchanged compared with the function data of the controlled node in the previous period, the corresponding data refreshing exception counter is increased by 1, if the data refreshing exception counter is greater than or equal to 15 (M=15 in the predefining), the bit value of the corresponding data bit in the updateErrR is 1, and if the function data is changed, the corresponding data refreshing exception counter is cleared by 0. For example, if the data refresh exception counter corresponding to the current manometer is 14, if the data of the manometer in the current period is equal to the data of the manometer in the previous period, the data refresh exception counter of the manometer is added with 1, and 15 is obtained at this time, if the data refresh exception counter of the manometer is more than or equal to 15, bit4 of the updatererrecap is set to 1; if the current period pressure gauge data is not equal to the previous period pressure gauge data, the pressure gauge data refreshing anomaly counter is cleared to 0.
And when the function data of a certain controlled node is detected to be out of the theoretical value range (namely the preset boundary range) under the working condition after the end of any 1 period, the sensor is considered to be faulty, and the corresponding position 1 in the DataErrRicap is detected. For example, the dynamic range of the pressure gauge is 0-1000 m, but the maximum working depth of the underwater vehicle is 100 m, if the pressure gauge has a sensor output (such as 200 m) which is obviously larger than 100 m at any time in the normal working process of the underwater vehicle, the fault of the pressure gauge is judged, and at the moment, bit4 of the DataErrRicceord is set to 1.
The fault type detection method is shown in fig. 4, in which a broken line indicates a flow before or after omitting fault detection, and in which only a fault detection flow of a certain single controlled node is shown, and detection of the remaining plurality of controlled nodes can be sequentially performed with reference to the detection flow shown in fig. 4.
The fault record level data is updated in real time every cycle, and reflects the instant detection result; the processing-level data is used for triggering a fault processing flow, and because the condition that the controlled node is incomplete possibly exists in the debugging state of the underwater vehicle, normal debugging operation is expected instead of triggering abnormal processing, and therefore, recording-level fault data is required to be copied and updated into the processing-level fault data only after an external command such as 'debugging-to-actual-navigation' is issued, and the 'debugging-to-actual-navigation' command becomes a fault processing enabling command in the practical sense. Once the debug-to-real navigation command is issued, record level data needs to be copied and updated to the processing level data structure every cycle.
And if the main control node detects that the processing-stage fault data has a value other than 0, the main control node needs to perform fault processing. For example, for an underwater vehicle with positive buoyancy, a stop is required to float the product; for the underwater vehicle with negative buoyancy, the product floats by throwing load or starting a buoyancy device, and the process is actively controlled and is an active fault treatment mechanism.
The fault is detected by each controlled node and the processing is fault passive processing. The faults of each controlled node are divided into two types, one type is communication fault, and the other type is subsystem function fault. Each controlled node detects the communication state between the controlled node and the main control node, judges the communication fault, and adopts a processing method of fault passive processing to carry out the fault passive processing by the controlled node. The adopted judging method and the judging process are the same as the judging process, for example, the propulsion motor driver detects a communication fault, and the propulsion motor driver cannot be controlled by the main control module at the moment, and the power subsystem can stop automatically as required; for example, when the battery detects out-of-range functional faults such as under-voltage, over-current and over-temperature, the fault report needs to be performed, and the main control node is informed to record the fault source and perform active fault treatment.
Finally, it should be noted that the above embodiments are only for illustrating the technical solution of the present invention and are not limiting. Although the present invention has been described in detail with reference to the embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the present invention, which is intended to be covered by the appended claims.
Claims (3)
1. An underwater vehicle control system fault detection and fault handling method, the control system comprising: a master control node and a plurality of controlled nodes; the master control node and the controlled node carry out master-slave communication through a digital bus; performing fault detection and fault processing on the internal communication of the control system and each controlled node at the same time;
aiming at a certain controlled node arranged in the underwater vehicle, the main control node is communicated with the controlled node internally through a digital bus, and the method is adopted to detect and process faults of the controlled node;
the method comprises the following steps:
the master control node sends a broadcasting instruction of a period T to the controlled node through a digital bus;
the main control node judges and generates a corresponding fault record according to the response condition and response content of the controlled node, and stores the fault record as record-level fault data to finish fault detection of the controlled node;
the main control node maps the record level fault data to the corresponding processing level fault data in real time according to an externally issued debugging and real-time navigation conversion instruction, and the main control node adopts a fault active processing method to process the fault according to the content of the processing level fault data;
the controlled node detects the communication state of the controlled node and the main control node, judges the communication fault, and carries out the passive fault processing by the controlled node;
the method also comprises the following steps before the implementation of the method: defining a 32-bit CER variable, a 32-bit UER variable, a 32-bit DER variable, a 32-bit CED variable, a 32-bit UED variable, and a 32-bit DED variable;
a CER variable of 32 bits as a buffer for record level communication failures;
a 32-bit UER variable as a buffer for the recording-level data update exception fault;
a 32-bit DER variable serving as a buffer for recording-level data abnormal faults;
the CED variable of 32 bits is used as a cache of the processing-level communication fault, and the processing-level mapping of the CER variable is corresponding;
a 32-bit UED variable is used as a buffer for updating abnormal faults of the processing level data, and the processing level mapping of the corresponding UER variable is performed;
the DED variable of 32 bits is used as a cache of the abnormal faults of the processing level data, and the processing level mapping of the DER variable is corresponding;
the data bits in the 32-bit CER variable are mapped one-to-one with the data bits in the 32-bit CED variable;
the data bits in the 32-bit UER variable are mapped one-to-one with the data bits in the 32-bit UED variable;
the data bits in the 32-bit DER variable are mapped one-to-one with the data bits in the 32-bit DED variable;
resetting each of the different variables to 0 during initialization;
the main control node judges and generates a corresponding fault record according to the response condition and response content of the controlled node, and stores the fault record as record-level fault data to finish fault detection of the controlled node; the specific process is as follows:
the main control node judges and generates a communication fault record according to the response condition of the controlled node, and stores the communication fault record as record-level communication fault data to determine the fault type as a communication fault;
the main control node judges and generates a function fault record according to the response content of the controlled node, and stores the function fault record as record-level function fault data to determine the type of the fault as a function fault;
the main control node judges and generates a communication fault record according to the response condition of the controlled node, and stores the communication fault record as record-level communication fault data to determine the fault type as a communication fault; the specific process is as follows:
the master control node sends a broadcasting instruction with the period of T to the controlled node, and the controlled node responds;
if the response of the controlled node is detected in the period T, the main control node controls the value of the communication anomaly counter corresponding to the controlled node to be clear 0;
if the response of the controlled node is not detected in the period T, the main control node controls the value of the communication anomaly counter corresponding to the controlled node to be increased by 1;
counting the numerical value of the communication anomaly counter, recording the numerical value as a statistical value, and comparing the statistical value with a preset threshold value;
if the statistical value is greater than or equal to a preset threshold value, setting the bit value of the data bit corresponding to the controlled node in the CER variable of 32 bits to be 1, generating a communication fault record, updating the record-level communication fault data, storing, and determining the fault type as a communication fault;
if the statistic value is smaller than a preset threshold value, not performing any processing;
the main control node judges and generates a function fault record according to the response content of the controlled node, and stores the function fault record as record-level function fault data to determine the type of the fault as a function fault; the specific process is as follows:
the master control node sends a broadcasting instruction with the period of T to the controlled node, and the controlled node responds;
if the response of the controlled node is detected in the period T, recording the response content of the controlled node in the current period as the function data of the response, recording the response content as the function data of the current period, and judging whether the function data of the current period is the same as the function data of the previous period;
if the functional data in the current period is different from the functional data in the previous period, the main control node controls the numerical value of the data refreshing exception counter corresponding to the controlled node to be 0;
if the function data of the current period is the same as the function data of the previous period, the main control node controls the value of the data refreshing abnormal counter corresponding to the controlled node to be increased by 1;
counting the numerical value of the data refreshing abnormal counter, recording the numerical value as a refreshing statistical value, and comparing the refreshing statistical value with a preset refreshing threshold value;
if the refresh statistic value is smaller than a preset refresh threshold value, not performing any processing;
if the refresh statistical value is greater than or equal to a preset refresh threshold value, setting the bit value of the data bit corresponding to the controlled node in the 32-bit UER variable to be 1, generating a data refresh abnormal fault record, updating the data refresh fault data of the record data, storing, and determining the fault type as the data refresh abnormal in the functional fault;
meanwhile, judging whether the functional data of the current period exceeds a preset boundary range or not;
if the functional data in the current period exceeds the preset boundary range, setting the bit value of the data bit corresponding to the controlled node in the 32-bit DER variable to be 1, generating a data abnormal fault record, updating the record-level data abnormal fault data, storing, and determining the fault type as the data abnormality in the functional fault;
if the functional data of the current period does not exceed the preset boundary range, not performing any processing;
the method further comprises the steps of: each controlled node detects the communication state between the controlled node and the main control node, judges and generates a communication fault record according to the detected receiving condition of the main control node periodically sending a broadcast instruction, stores the communication fault record on the controlled node, and determines the fault type as a communication fault; the controlled node carries out automatic processing according to the self function type, and the fault processing process does not have the participation of the main control node, namely the fault is passively processed.
2. The method for detecting and processing faults of an underwater vehicle control system according to claim 1, wherein the main control node maps recording level fault data to corresponding processing level fault data in real time according to an externally issued command for debugging and turning to actual navigation, and the main control node adopts a fault active processing method to process faults according to the content of the processing level fault data; the specific process is as follows:
when the external issuing of the instruction to debug the transition to real navigation, each cycle thereafter operates as follows:
updating the record level communication fault data copy to the processing level communication fault data, in particular updating the data bit copy of the CER variable to the data bit of the CED variable;
updating the record level data refresh fault data copy to the processing level data refresh fault data, in particular updating the data bit copy of the UER variable to the data bit of the UED variable;
copying and updating the recording-level data abnormal fault data to the processing-level data abnormal fault data, and particularly copying the data bit update of the DER variable to the data bit of the DED variable;
if the data bit of the CED variable, the data bit of the UED variable or the arbitrary position of the data bit of the DED variable is larger than 0, adopting a fault active processing method to process the fault;
if all positions of the data bit of the CED variable, the data bit of the UED variable, or the data bit of the DED variable are equal to 0, no processing is performed.
3. The method for detecting and processing the faults of the control system of the underwater vehicle according to claim 1, wherein the specific process of judging the communication abnormality of each controlled node is as follows:
a timer with the same period T as the broadcasting instruction of the main control node is arranged in the controlled node;
if the controlled node detects a main control node broadcasting instruction in a timer period T, the value of a communication anomaly counter in the controlled node is clear 0;
if the controlled node does not detect the main control node broadcasting instruction in the timer period T, the value of a communication anomaly counter in the controlled node is increased by 1;
counting the numerical value of the communication anomaly counter, recording the numerical value as a statistical value, and comparing the statistical value with a preset threshold value;
if the statistical value is greater than or equal to the preset threshold value, recording communication faults and performing fault passive processing
If the statistic is smaller than the preset threshold value, no processing is performed.
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