CN114089020A - High-resolution remote signaling acquisition device and method based on double MCUs - Google Patents
High-resolution remote signaling acquisition device and method based on double MCUs Download PDFInfo
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Abstract
A remote signaling collection method and device of a high-resolution remote signaling collection device based on double MCUs are disclosed, the remote signaling collection device comprises a first MCU and a second MCU, the two MCUs respectively comprise a remote signaling collection module and an AD sampling module, the remote signaling collection module and the AD sampling module multiplex an interrupt function, and the remote signaling collection method comprises the following steps: the two MCUs receive the pulse per second respectively; the first MCU sets the remote signaling sampling synchronous time as a pulse-per-second rising edge, and samples are uniformly carried out according to a sampling period Ts; and the second MCU sets the remote signaling sampling synchronous time as a sampling period Ts of one half of the second pulse rising edge delay, and samples are uniformly carried out according to the sampling period Ts. By means of the double-MCU cross parallel sampling, the remote signaling sampling resolution is greatly improved.
Description
Technical Field
The invention relates to the field of measurement and control of power systems, in particular to a high-resolution remote signaling acquisition device and method based on double MCUs.
Background
Remote signaling is one of the basic measurement and control functions of the protection measurement and control device. After an accident occurs to the power system, the operating personnel can know the state change condition of the switch and the relay protection in time from remote signaling. The remote signaling resolution is an important assessment index for protecting the measurement and control device, and is used for quantifying the capability of accurately distinguishing the sequence occurrence events of the protection and control device, and the requirement of the leading index of the remote signaling resolution in the industry is 1 ms. In order to meet the index requirement, the remote signaling sampling period of the protection measurement and control device needs to be less than or equal to 500 microseconds.
At present, a common protection measurement and control device is developed based on an MCU chip, but due to the core performance and interrupt resource limitation of the MCU chip, an AD sampling and a remote signaling sampling multiplex interrupt signal, and the MCU chip cannot provide independent AD sampling and remote signaling sampling interrupt. The protection measurement and control device adopts 24 or 32-point sampling, and the remote signaling sampling period is more than 500 mu s, so that the index requirement of the remote signaling resolution of 1ms cannot be met.
Disclosure of Invention
In view of this, embodiments of the present invention provide a high resolution remote signaling acquisition device and method based on dual MCUs, so as to solve the technical problem that the existing protection measurement and control device based on an MCU chip cannot meet the requirement of remote signaling resolution index.
In one aspect, an embodiment of the present invention provides a remote signaling acquisition method for a high resolution remote signaling acquisition device based on dual MCUs, where the remote signaling acquisition device includes a first MCU and a second MCU, the first MCU and the second MCU respectively include a remote signaling acquisition module and an AD sampling module, the remote signaling acquisition module and the AD sampling module multiplex an interrupt function, and the remote signaling acquisition method includes:
(1) the first MCU and the second MCU respectively receive the pulse per second;
(2) the first MCU sets the second pulse rising edge as the remote signaling sampling synchronous time, and samples uniformly according to a sampling period Ts;
(3) and the second MCU sets the sampling period Ts of one half of the delay of the rising edge of the second pulse as the remote signaling sampling synchronous time, and samples are uniformly carried out according to the sampling period Ts.
Further, the step (1) further comprises: receiving a second pulse serving as a working clock, and outputting a pulse synchronization signal according to the second pulse; the second pulse rising edge is a pulse synchronization signal rising edge output according to the second pulse.
Further, the step (1) further comprises: and setting a preset register array for storing the crystal oscillator counting difference of continuous N second pulses.
Further, the step (1) further comprises:
judging whether the device is in a synchronous state for normally receiving the working clock or in an out-of-step state for losing the working clock, outputting a pulse synchronous signal according to the data cycle of the preset register array when the device is in the out-of-step state, and converting the out-of-step state into the synchronous state;
in the process of converting the out-of-step state into the synchronous state, when M effective second pulses are continuously received, wherein M is less than N, and when the effective second pulses are not received, the data of the preset register array is not updated, and pulse synchronous signals are still output according to the data cycle of the preset register array; and after M effective second pulses are continuously received, wherein M is not less than N, the device enters a synchronous state, a pulse synchronous signal is output to the device according to the received working clock second pulses, and simultaneously, the data of the preset register array is updated from 1 to N periods.
Further, the step (1) further comprises: and continuously correcting the remote signaling sampling interruption interval or continuously correcting the pulse synchronous signal to synchronize the pulse synchronous signal with the remote signaling sampling interruption.
Further, the step (1) further comprises: when the device receives an effective time tick pulse synchronizing signal, the time deviation between the current received pulse synchronizing signal and the nearest sampling interruption point is judged, and when the deviation is smaller than or equal to an error range, the remote signaling sampling interruption jumps along with the pulse synchronizing signal; and when the deviation is larger than the error range, correcting the continuous K sampling interruption or pulse synchronization signals.
Further, the correcting the continuous K sampling interruptions specifically includes the steps of: when the pulse synchronizing signal leads the nearest remote signaling sampling interruption point delta t, reducing delta t/K time for continuous K sampling interruption intervals to output in advance, and after K sampling interruptions, synchronizing sampling interruption and the pulse synchronizing signal; when the pulse synchronizing signal lags behind the nearest remote signaling sampling interruption point delta t, sampling interruption and the pulse synchronizing signal are synchronized after K sampling interruptions by increasing delta t/K time delay output for continuous K sampling interruption intervals.
Further, the step of correcting the K consecutive pulse synchronization signals specifically includes the steps of: when the pulse synchronous signal leads the nearest remote signaling sampling interruption point delta t, increasing delta t/K time delay output to continuous K pulse synchronous signals, and after K pulse synchronous signals pass, synchronizing sampling interruption and the pulse synchronous signals; when the pulse synchronizing signal lags behind the nearest remote signaling sampling interruption point delta t, the sampling interruption and the pulse synchronizing signal are synchronized after K pulse synchronizing signals are passed through reducing delta t/K time for the continuous K pulse synchronizing signals and outputting in advance.
Further, the method also comprises the step (4):
the first MCU receives the telecommand deflection information and the telecommand deflection time scale of the second MCU;
comparing the telecommand deflection information and the telecommand deflection time marks provided by the first MCU and the second MCU by the first MCU, and determining a device telecommand deflection time mark;
and the first MCU transmits the remote signaling deflection information and the device remote signaling deflection time scale to the master station.
Further, in the step (4), the first MCU compares the telecommand displacement information and the telecommand displacement time scale provided by the first MCU and the second MCU, and the determining of the device telecommand displacement time scale specifically includes the steps of:
the first MCU detects that a certain channel of telecommand is displaced, a telecommand jitter elimination processing logic is started, and after the displacement effectiveness is confirmed by the telecommand jitter elimination time, the telecommand displacement time stored by the first MCU is recorded as a telecommand displacement time mark;
checking a sampling serial number corresponding to the channel telecommand deflection information provided by the second MCU, and correcting the telecommand deflection time scale of the first MCU forward by Ts/2 to serve as a device telecommand deflection time scale when the sampling serial number of the second MCU is less than the sampling serial number corresponding to the telecommand deflection time scale of the first MCU; and when the sampling serial number of the second MCU is larger than or equal to the sampling serial number corresponding to the telecommand deflection time scale of the first MCU, not correcting the telecommand deflection time scale of the first MCU, and taking the telecommand deflection time scale of the first MCU as the telecommand deflection time scale of the device.
On the other hand, the embodiment of the invention provides a high-resolution remote signaling acquisition device based on double MCUs, the remote signaling acquisition device comprises a first MCU and a second MCU, the first MCU and the second MCU respectively comprise a remote signaling acquisition module and an AD sampling module, the remote signaling acquisition module and the AD sampling module multiplex an interrupt function, and the first MCU and the second MCU respectively receive a pulse per second; the remote signaling sampling synchronization moment of the first MCU is a pulse-per-second rising edge, and the sampling is uniformly carried out according to a sampling period Ts; and the remote signaling sampling synchronization moment of the second MCU is a sampling period Ts of one half of the second pulse rising edge delay, and the sampling is uniformly carried out according to the sampling period Ts.
Further, the first MCU and the second MCU respectively comprise a clock synchronization module, the clock synchronization module receives a pulse per second serving as a working clock, the clock synchronization module is used for outputting a pulse synchronization signal according to the pulse per second, and the pulse synchronization signal rising edge is output according to the pulse per second.
Furthermore, the clock synchronization module comprises a preset register array for storing the crystal oscillator count difference value of continuous N second pulses.
Further, the clock synchronization module judges whether the device is in a synchronization state of normally receiving the working clock or in an out-of-step state of losing the working clock, and when the device is judged to be in the out-of-step state, the clock synchronization module outputs a pulse synchronization signal according to the data cycle of the preset register array and converts the out-of-step state into the synchronization state; in the process of converting the out-of-step state into the synchronous state, when M effective second pulses are continuously received, wherein M is less than N, and the effective second pulses cannot be received, the clock synchronization module does not update the data of the preset register array and still outputs pulse synchronization signals according to the data cycle of the preset register array; and after M effective second pulses are continuously received, wherein M is not less than N, the device enters a synchronous state, the clock synchronization module outputs a pulse synchronization signal to the device according to the received working clock second pulses, and meanwhile, the data of the preset register array is updated by 1-N periods.
Furthermore, the first MCU and the second MCU respectively comprise self-adaptive synchronous correction modules for continuously correcting the remote signaling sampling interruption interval or continuously correcting the pulse synchronous signal so as to synchronize the pulse synchronous signal with the remote signaling sampling interruption.
Further, the adaptive synchronous correction module is used for judging the time deviation between the currently received pulse synchronous signal and the nearest sampling interruption point when the device receives the effective time-tick pulse synchronous signal, and when the deviation is smaller than or equal to the error range, the remote signaling sampling interruption jumps along with the pulse synchronous signal; and when the deviation is larger than the error range, correcting the continuous K sampling interruption or pulse synchronization signals.
Further, the step of correcting the continuous K sampling interrupts by the adaptive synchronous correction module specifically includes: when the pulse synchronous signal leads the nearest remote signaling sampling interruption point delta t, the self-adaptive synchronous correction module reduces delta t/K time for outputting in advance for continuous K sampling interruption intervals, and after K sampling interruptions, the sampling interruption and the pulse synchronous signal are synchronized; when the pulse synchronization signal lags behind the nearest remote signaling sampling interruption point delta t, the self-adaptive synchronous correction module increases delta t/K time delay output to continuous K sampling interruption intervals, and after K sampling interruptions, the sampling interruption and the pulse synchronization signal are synchronized.
Further, the step of correcting the continuous K pulse synchronization signals smaller than the error range by the adaptive synchronization correction module specifically includes: when the pulse synchronous signal leads the nearest remote signaling sampling interruption point delta t, the self-adaptive synchronous correction module increases delta t/K time delay output to the continuous K pulse synchronous signals, and after the K pulse synchronous signals pass, the sampling interruption is synchronized with the pulse synchronous signals; when the pulse synchronous signal lags behind the nearest remote signaling sampling interruption point delta t, the self-adaptive synchronous correction module reduces delta t/K time for outputting in advance for continuous K pulse synchronous signals, and after K pulse synchronous signals pass, the sampling interruption and the pulse synchronous signals are synchronized.
Further, the first MCU receives the telecommand deflection information and the telecommand deflection time scale of the second MCU; comparing the telecommand deflection information and the telecommand deflection time marks provided by the first MCU and the second MCU by the first MCU, and determining a device telecommand deflection time mark; and the first MCU transmits the remote signaling deflection information and the device remote signaling deflection time scale to the master station.
Furthermore, the first MCU is used for starting a remote signaling jitter elimination processing logic when detecting that a certain channel of remote signaling has deflection, and recording the remote signaling deflection time stored by the first MCU as a remote signaling deflection time scale after confirming the deflection validity through the remote signaling jitter elimination time; the sampling sequence number corresponding to the channel telecommand deflection information provided by the second MCU is checked, and when the sampling sequence number of the second MCU is less than the sampling sequence number corresponding to the telecommand deflection time scale of the first MCU, the telecommand deflection time scale of the first MCU is corrected forward by Ts/2 to be used as a device telecommand deflection time scale; and when the sampling serial number of the second MCU is larger than or equal to the sampling serial number corresponding to the telecommand deflection time scale of the first MCU, not correcting the telecommand deflection time scale of the first MCU, and taking the telecommand deflection time scale of the first MCU as the telecommand deflection time scale of the device.
The technical scheme of the invention has the following beneficial technical effects:
according to the invention, through the cross parallel sampling of the double MCUs, the remote signaling sampling resolution is greatly improved, and when the sampling point number of the device is more than or equal to 20 points, the remote signaling resolution can be ensured to meet the requirement of 1ms index; through the arrangement of the clock synchronization module, the device is ensured to receive the judgment of an external clock (synchronization for short) and the loss of an external clock signal (desynchronization for short), and the device is ensured to continuously output pulse synchronization signals to a protection MCU and a start MCU no matter under the synchronous or desynchronized working condition, the pulse synchronization signals do not depend on an external clock source, and the uniformity of the pulse synchronization signals received by the double MCUs is ensured; through the setting of the self-adaptive synchronous correction module, in the process from step-out to synchronization of the device, the high-precision sampling resolution is ensured by dynamically and continuously adjusting sampling interruption intervals or pulse synchronous signals; and the accuracy of the recorded telecommand deflection time is ensured by correcting the telecommand deflection time scale in the process of telecommand identification.
Drawings
FIG. 1 is a schematic diagram of a hardware architecture of a dual-MCU-based high-resolution remote signaling acquisition device according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating remote signaling sampling timing control of a remote signaling acquisition device according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a sample interrupt adaptive correction method according to an embodiment of the present invention;
fig. 4 is a flow chart of remote signaling identification provided in an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
The embodiment of the invention provides a protection measurement and control system, which comprises: high-resolution telesignalling collection system based on two MCU.
Referring to fig. 1, the high-resolution remote signaling acquisition device based on the dual MCUs includes a protection MCU and a start MCU, and the two MCUs communicate through the dual SPI.
After voltage and current signals collected by a voltage sensor and a current sensor in the protection measurement and control system pass through a low-pass filter, the AD sampling interfaces of the protection MCU and the start MCU respectively perform sampling processing.
The remote signaling signals of the remote signaling acquisition device are simultaneously accessed into the protection MCU and the starting MCU, the protection MCU and the starting MCU are both provided with remote signaling acquisition modules, remote signaling sampling and identification are independently completed, an interrupt function is multiplexed with the remote signaling sampling and AD sampling, and the sampling period of the remote signaling sampling is the same as the AD sampling period and is a sampling period Ts.
The protection MCU remote signaling acquisition module compares the protection MCU with remote signaling deflection information and time marks provided by the start MCU, a pre-guide time mark is taken as a remote signaling deflection time mark, and the protection MCU sends the remote signaling deflection information and the time marks as remote signaling deflection messages to a monitoring system of a main station through a serial port or an Ethernet.
And the external clock synchronization or clock chip or the high-precision crystal oscillator generates PPS (pulse per second) signals, and the PPS signals are received through GPIO (general purpose input/output) ports of the protection MCU and the starting MCU, so that the protection MCU synchronously protects the MCU and starts remote signaling sampling of the MCU according to the PPS. The remote signaling sampling timing control of the remote signaling acquisition device is shown in fig. 2.
Protecting the MCU remote signaling sampling synchronization moment as a pulse per second rising edge, and uniformly sampling according to a sampling period Ts; the MCU is started to sample at the synchronous time of telecommand sampling, namely the sampling time is delayed by one half of the sampling period of the pulse per second rising edge, namely the sampling time is delayed by Ts/2, the sampling is uniformly carried out according to the sampling period Ts, the MCU is protected to sample at the rising edge of each pulse per second, the MCU is started to sample at the time delayed by Ts/2 of the rising edge of each pulse per second, the telecommand acquisition device carries out telecommand sampling once at every Ts/2, and the sampling frequency is doubled. According to the invention, through the cross parallel sampling of the double MCUs, the remote signaling sampling resolution is greatly improved, and when the sampling point number of the device is more than or equal to 20 points, the remote signaling resolution can be ensured to meet the requirement of 1 ms.
When remote signaling sampling is carried out, a PPS (pulse per second) signal (desynchronization for short) generated by an external time setting or clock chip or a high-precision crystal oscillator is a common phenomenon, and the accuracy of the resolution ratio of the remote signaling sampling is greatly influenced. In order to solve the problem, the invention arranges a clock synchronization module in the remote signaling acquisition device. The clock synchronization module receives the PPS as a working clock and is used for storing the crystal oscillator counting difference of continuous N PPS by presetting a register array. Wherein, a high-precision crystal oscillator is preferably adopted as a working clock of the device clock synchronization module. The clock synchronization module judges whether the device is in a synchronization state of normally receiving the working clock or in an out-of-step state of losing the working clock, and when the device is judged to be in the out-of-step state, the clock synchronization module outputs a pulse synchronization signal according to the data period of the preset register array and converts the out-of-step state into the synchronization state. In the conversion process from out-of-step to synchronous punctuality, when M (M < N) effective pulses are continuously received and the effective second pulse is not received, the device does not update the data of the preset register and still outputs a pulse synchronization signal according to the data cycle of the array of the preset register; and after M (M ≧ N) effective second pulses are continuously received, the device enters a time keeping state, a pulse synchronization signal is output to the MCU according to the second pulses of the receiving clock, and the preset register array data is updated from 1 to N periods. Through the setting of the clock synchronization module, the device is ensured to continuously output pulse synchronization signals to the protection MCU and the starting MCU no matter under the synchronous or out-of-step working condition, the synchronization signals do not depend on an external clock source, and the uniformity of the pulse synchronization signals received by the double MCUs is ensured.
In the process of converting the desynchronizing state into the synchronizing state, the problem that sampling precision is influenced by jumping of sampling interruption intervals caused by time difference between the reception of second pulses and remote signaling sampling interruption is brought. In order to prevent the problem, the invention also arranges a self-adaptive synchronous correction module in the remote signaling acquisition device for continuously correcting the remote signaling sampling interruption interval or continuously correcting the pulse synchronous signal so as to synchronize the pulse synchronous signal with the remote signaling sampling interruption. Taking the continuous correction of the sampling interruption interval as an example, the adaptive correction process for sampling interruption in the present invention is shown in fig. 3. When the remote signaling acquisition device receives an effective time synchronization pulse synchronization signal PPS, the time deviation between the currently received pulse synchronization signal and the nearest sampling interruption point is judged, and when the difference value is smaller than the error range, the remote signaling sampling interruption directly jumps along with the pulse synchronization signal; when the deviation is larger than the required error range, continuous K sampling interrupts smaller than the error range are used for adjustment, namely when the pulse synchronous signal leads the nearest telecommand sampling interrupt point delta t, the self-adaptive synchronous correction module reduces delta t/K (delta t/K is smaller than the required error range of sampling interrupt) time output for continuous K sampling interrupt intervals, and after K sampling interrupts, the sampling interrupt intervals are synchronous with the latest second pulse synchronous signal; on the contrary, when the pulse synchronization signal lags behind the sampling interruption delta t, the self-adaptive synchronous correction module increases (delta t/K) delay output to the continuous K sampling interruption intervals, and after K sampling points, the self-adaptive synchronous correction module is synchronous with the latest pulse synchronization signal per second. The correction method of the self-adaptive synchronous correction module can ensure that sampling interruption can follow a clock source as soon as possible in the process from step loss to synchronization of the device, the validity of remote signaling acquisition interruption interval data is ensured, and the condition that the remote signaling resolution is inaccurate due to time hopping of the remote signaling acquisition module caused by remote signaling deflection in the process is avoided.
And independently finishing remote signaling sampling by the protection MCU and the start MCU according to the remote signaling sampling synchronization scheme, and recording the remote signaling deflection moment when the remote signaling deflection is detected. And starting the MCU to detect the telecommand deflection, and sending the telecommand deflection information containing the sampling sequence number to the protection MCU.
The process of remote signaling identification in the invention is shown in fig. 4, and the MCU remote signaling acquisition module is protected to mainly protect the MCU remote signaling sampling data for remote signaling identification. And the protection MCU carries out remote signaling acquisition, when the remote signaling of a certain path is detected to generate deflection, the remote signaling jitter elimination processing logic is started, and after the deflection validity is confirmed by the remote signaling jitter elimination time, the remote signaling deflection time stored by the protection MCU is recorded as a remote signaling deflection time mark. Checking a sampling serial number corresponding to the channel telecommand deflection information provided by the starting MCU, and if the sampling serial number is less than the sampling serial number corresponding to the protection MCU telecommand deflection, correcting a telecommand deflection time scale forward by Ts/2 to be used as the device telecommand deflection; and if the sampling sequence number is not less than the sampling sequence number corresponding to the protection MCU telecommand deflection, not correcting the telecommand deflection time scale, taking the protection MCU telecommand deflection time scale as the device telecommand deflection, and then taking the telecommand deflection information and the device telecommand deflection time scale as a telecommand deflection report message to be transmitted to the master station.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.
Claims (20)
1. A remote signaling collection method of a high-resolution remote signaling collection device based on double MCUs is characterized in that the remote signaling collection method comprises the following steps:
(1) the first MCU and the second MCU respectively receive the pulse per second;
(2) the first MCU sets the second pulse rising edge as the remote signaling sampling synchronous time, and samples uniformly according to a sampling period Ts;
(3) and the second MCU sets the sampling period Ts of one half of the delay of the rising edge of the second pulse as the remote signaling sampling synchronous time, and samples are uniformly carried out according to the sampling period Ts.
2. The remote signaling collecting method of the dual-MCU-based high resolution remote signaling collecting device according to claim 1, wherein the step (1) further comprises: receiving a second pulse serving as a working clock, and outputting a pulse synchronization signal according to the second pulse; the second pulse rising edge is a pulse synchronization signal rising edge output according to the second pulse.
3. The remote signaling collecting method of the dual-MCU-based high resolution remote signaling collecting device according to claim 2, wherein the step (1) further comprises: and setting a preset register array for storing the crystal oscillator counting difference of continuous N second pulses.
4. The remote signaling collecting method of the dual-MCU-based high resolution remote signaling collecting device according to claim 3, wherein the step (1) further comprises:
judging whether the device is in a synchronous state for normally receiving the working clock or in an out-of-step state for losing the working clock, outputting a pulse synchronous signal according to the data cycle of the preset register array when the device is in the out-of-step state, and converting the out-of-step state into the synchronous state;
in the process of converting the out-of-step state into the synchronous state, when M effective second pulses are continuously received, wherein M is less than N, and when the effective second pulses are not received, the data of the preset register array is not updated, and pulse synchronous signals are still output according to the data cycle of the preset register array; and after M effective second pulses are continuously received, wherein M is not less than N, the device enters a synchronous state, a pulse synchronous signal is output to the device according to the received working clock second pulses, and simultaneously, the data of the preset register array is updated from 1 to N periods.
5. The remote signaling collecting method of the dual-MCU-based high resolution remote signaling collecting device according to claim 4, wherein the step (1) further comprises: and continuously correcting the remote signaling sampling interruption interval or continuously correcting the pulse synchronous signal to synchronize the pulse synchronous signal with the remote signaling sampling interruption.
6. The remote signaling collecting method of the dual-MCU-based high resolution remote signaling collecting device according to claim 5, wherein the step (1) further comprises: when the device receives an effective time tick pulse synchronizing signal, the time deviation between the current received pulse synchronizing signal and the nearest sampling interruption point is judged, and when the deviation is smaller than or equal to an error range, the remote signaling sampling interruption jumps along with the pulse synchronizing signal; and when the deviation is larger than the error range, correcting the continuous K sampling interruption or pulse synchronization signals.
7. The remote signaling collection method of the dual-MCU based high resolution remote signaling collection device according to claim 6, wherein the correcting for the continuous K sampling interruptions specifically comprises the steps of: when the pulse synchronizing signal leads the nearest remote signaling sampling interruption point delta t, reducing delta t/K time for continuous K sampling interruption intervals to output in advance, and after K sampling interruptions, synchronizing sampling interruption and the pulse synchronizing signal; when the pulse synchronizing signal lags behind the nearest remote signaling sampling interruption point delta t, sampling interruption and the pulse synchronizing signal are synchronized after K sampling interruptions by increasing delta t/K time delay output for continuous K sampling interruption intervals.
8. The remote signaling collection method of the high resolution remote signaling collection device based on the dual MCU of claim 6, wherein the correcting the continuous K pulse synchronization signals specifically comprises the steps of: when the pulse synchronous signal leads the nearest remote signaling sampling interruption point delta t, increasing delta t/K time delay output to continuous K pulse synchronous signals, and after K pulse synchronous signals pass, synchronizing sampling interruption and the pulse synchronous signals; when the pulse synchronizing signal lags behind the nearest remote signaling sampling interruption point delta t, the sampling interruption and the pulse synchronizing signal are synchronized after K pulse synchronizing signals are passed through reducing delta t/K time for the continuous K pulse synchronizing signals and outputting in advance.
9. The telecommand acquisition method of a dual MCU based high resolution telecommand acquisition device according to any one of claims 1-8, further comprising the step (4):
the first MCU receives the telecommand deflection information and the telecommand deflection time scale of the second MCU;
comparing the telecommand deflection information and the telecommand deflection time marks provided by the first MCU and the second MCU by the first MCU, and determining a device telecommand deflection time mark;
and the first MCU transmits the remote signaling deflection information and the device remote signaling deflection time scale to the master station.
10. The remote signaling collection method of the dual-MCU-based high resolution remote signaling collection device according to claim 9, wherein the step (4) comprises the first MCU comparing the remote signaling shift information and the remote signaling shift time scale provided by the first MCU and the second MCU, and the step of determining the device remote signaling shift time scale specifically comprises the steps of:
the first MCU detects that a certain channel of telecommand is displaced, a telecommand jitter elimination processing logic is started, and after the displacement effectiveness is confirmed by the telecommand jitter elimination time, the telecommand displacement time stored by the first MCU is recorded as a telecommand displacement time mark;
checking a sampling serial number corresponding to the channel telecommand deflection information provided by the second MCU, and correcting the telecommand deflection time scale of the first MCU forward by Ts/2 to serve as a device telecommand deflection time scale when the sampling serial number of the second MCU is less than the sampling serial number corresponding to the telecommand deflection time scale of the first MCU; and when the sampling serial number of the second MCU is larger than or equal to the sampling serial number corresponding to the telecommand deflection time scale of the first MCU, not correcting the telecommand deflection time scale of the first MCU, and taking the telecommand deflection time scale of the first MCU as the telecommand deflection time scale of the device.
11. A high-resolution remote signaling acquisition device based on double MCUs comprises a first MCU and a second MCU, wherein the first MCU and the second MCU respectively comprise a remote signaling acquisition module and an AD sampling module, the remote signaling acquisition module and the AD sampling module multiplex an interrupt function, and the first MCU and the second MCU respectively receive pulse per second; the method is characterized in that the telecommand sampling synchronization time of the first MCU is a pulse-per-second rising edge, and the sampling is uniformly carried out according to a sampling period Ts; and the remote signaling sampling synchronization moment of the second MCU is a sampling period Ts of one half of the second pulse rising edge delay, and the sampling is uniformly carried out according to the sampling period Ts.
12. The dual-MCU-based high-resolution remote signaling acquisition device according to claim 11, wherein: the first MCU and the second MCU respectively comprise clock synchronization modules, the clock synchronization modules receive second pulses serving as working clocks, the clock synchronization modules are used for outputting pulse synchronization signals according to the second pulses, and the second pulse rising edges are pulse synchronization signal rising edges output according to the second pulses.
13. The dual-MCU-based high-resolution remote signaling acquisition device according to claim 12, wherein: the clock synchronization module comprises a preset register array used for storing the crystal oscillator counting difference value of continuous N second pulses.
14. The dual-MCU-based high-resolution remote signaling acquisition device according to claim 13, wherein: the clock synchronization module judges whether the device is in a synchronization state for normally receiving the working clock or an out-of-step state for losing the working clock, and when the device is judged to be in the out-of-step state, the clock synchronization module outputs a pulse synchronization signal according to the data cycle of the preset register array and converts the out-of-step state into the synchronization state; in the process of converting the out-of-step state into the synchronous state, when M effective second pulses are continuously received, wherein M is less than N, and the effective second pulses cannot be received, the clock synchronization module does not update the data of the preset register array and still outputs pulse synchronization signals according to the data cycle of the preset register array; and after M effective second pulses are continuously received, wherein M is not less than N, the device enters a synchronous state, the clock synchronization module outputs a pulse synchronization signal to the device according to the received working clock second pulses, and meanwhile, the data of the preset register array is updated by 1-N periods.
15. The dual-MCU-based high-resolution remote signaling acquisition device according to claim 11, wherein: the first MCU and the second MCU respectively comprise self-adaptive synchronous correction modules which are used for continuously correcting the remote signaling sampling interruption interval or continuously correcting the pulse synchronous signal so that the pulse synchronous signal is synchronous with the remote signaling sampling interruption.
16. The dual-MCU-based high-resolution remote signaling acquisition device according to claim 15, wherein: the self-adaptive synchronous correction module is used for judging the time deviation between the currently received pulse synchronous signal and the nearest sampling interruption point when the device receives an effective time tick pulse synchronous signal, and the remote signaling sampling interruption carries out jumping along with the pulse synchronous signal when the deviation is smaller than or equal to an error range; and when the deviation is larger than the error range, correcting the continuous K sampling interruption or pulse synchronization signals.
17. The dual-MCU-based high-resolution telemetry signal acquisition device of claim 16, wherein: the self-adaptive synchronous correction module specifically corrects the continuous K sampling interrupts, and comprises the following steps: when the pulse synchronous signal leads the nearest remote signaling sampling interruption point delta t, the self-adaptive synchronous correction module reduces delta t/K time for outputting in advance for continuous K sampling interruption intervals, and after K sampling interruptions, the sampling interruption and the pulse synchronous signal are synchronized; when the pulse synchronization signal lags behind the nearest remote signaling sampling interruption point delta t, the self-adaptive synchronous correction module increases delta t/K time delay output to continuous K sampling interruption intervals, and after K sampling interruptions, the sampling interruption and the pulse synchronization signal are synchronized.
18. The dual-MCU-based high-resolution telemetry signal acquisition device of claim 16, wherein: the step of correcting the continuous K pulse synchronization signals smaller than the error range by the self-adaptive synchronization correction module specifically comprises the following steps: when the pulse synchronous signal leads the nearest remote signaling sampling interruption point delta t, the self-adaptive synchronous correction module increases delta t/K time delay output to the continuous K pulse synchronous signals, and after the K pulse synchronous signals pass, the sampling interruption is synchronized with the pulse synchronous signals; when the pulse synchronous signal lags behind the nearest remote signaling sampling interruption point delta t, the self-adaptive synchronous correction module reduces delta t/K time for outputting in advance for continuous K pulse synchronous signals, and after K pulse synchronous signals pass, the sampling interruption and the pulse synchronous signals are synchronized.
19. A dual MCU based high resolution telemetry acquisition device according to any one of claims 11 to 18 wherein: the first MCU receives the telecommand deflection information and the telecommand deflection time scale of the second MCU; comparing the telecommand deflection information and the telecommand deflection time marks provided by the first MCU and the second MCU by the first MCU, and determining a device telecommand deflection time mark; and the first MCU transmits the remote signaling deflection information and the device remote signaling deflection time scale to the master station.
20. The dual-MCU-based high resolution remote signaling acquisition device according to claim 19, wherein: the first MCU is used for starting a telecommand jitter elimination processing logic when the fact that a certain channel of telecommand is displaced is detected, and recording the telecommand displacement time stored by the first MCU as a telecommand displacement time mark after the telecommand jitter elimination time confirms the displacement effectiveness; the sampling sequence number corresponding to the channel telecommand deflection information provided by the second MCU is checked, and when the sampling sequence number of the second MCU is less than the sampling sequence number corresponding to the telecommand deflection time scale of the first MCU, the telecommand deflection time scale of the first MCU is corrected forward by Ts/2 to be used as a device telecommand deflection time scale; and when the sampling serial number of the second MCU is larger than or equal to the sampling serial number corresponding to the telecommand deflection time scale of the first MCU, not correcting the telecommand deflection time scale of the first MCU, and taking the telecommand deflection time scale of the first MCU as the telecommand deflection time scale of the device.
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