CN117492355A - Automatic control system with redundant fault tolerance function and control method - Google Patents
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Abstract
The invention discloses an automatic control system with a redundant fault-tolerant function and a control method thereof, which relate to the technical field of automatic control systems and comprise the following steps: determining a monitoring sensor to actuator motion monitoring cycle timeCreating a constant speed monitoring time intervalThe method comprises the steps of carrying out a first treatment on the surface of the And simultaneously carrying out real-time monitoring on the motion of the actuating mechanism through the first monitoring sensor and the second monitoring sensor, and acquiring the monitoring data sets and integrating the real-time acquisition time to obtain a first monitoring data set UA and a second monitoring data set UB. Compared with the traditional method that the data acquired by the monitoring sensors are compared and identified with the preset threshold value or the variation threshold value respectively, the method and the device remarkably improve the accuracy and the accuracy of identification, and simultaneously, the fault identification of the two sensors is more convenient and accurate.
Description
Technical Field
The invention relates to the technical field of automatic control systems, in particular to an automatic control system with a redundant fault tolerance function and a control method.
Background
As is known, an automation control system generally consists of three parts: in order to realize accurate control of equipment, the front end sensor is needed to be equipped with the front end sensor, the current state of the execution mechanism is monitored in real time through the front end sensor and fed back to the controller terminal, closed-loop control conforming to the working condition is realized, but the front end sensor is a weak link in an automatic control system, once the front end sensor fails, the system cannot correctly know the current state of the execution mechanism, a control program cannot be executed, the system breaks down, the redundant fault-tolerant setting in the prior art is generally provided with two sensors, the two sensors synchronously work, when one sensor fails, the fault sensor can be cut off through analysis and diagnosis, and the other sensor is independently connected to the controller terminal, so that the control system can normally operate, the fault-tolerant effect is achieved, and the operation stability of the control system is improved.
If the authorized notice number is CN107544366B and the authorized notice date is 2020.09.22, the method for collecting and processing redundant sensor signals in an automatic control system is named as a specific method for analyzing and identifying the correctness of redundant sensor data, which comprises the following steps: firstly, the actual parameter value At2 of the sensor I At the current moment is read and compared with the actual parameter value At1 of the sensor I At the previous moment, the relation between the absolute value of the variation in the two monitoring periods and the absolute value A delta t of the maximum variation in the two monitoring periods is judged, and when the variation in the monitoring periods is larger than the maximum variation in the monitoring periods, the corresponding sensor faults are indicated.
Although the above-mentioned patent is authorized to realize the recognition of the sensor fault, but have very big defect to the accuracy of sensor fault recognition analysis, its default sensor is when breaking down, and the data that its collection must be checked and is done big variation, but in actual operation, often can appear the sensor fault and lead to the data that gathers inaccurately, but the variation of its collection data in the monitoring period also does not exceed the biggest variation in the monitoring period, can lead to at this moment to carrying out accurate recognition to the sensor of trouble, influence the stability of control system operation.
Disclosure of Invention
The invention aims to provide an automatic control system with a redundant fault-tolerant function and a control method thereof, so as to solve the defects in the prior art.
In order to achieve the above object, the present invention provides the following technical solutions: an automatic control method with a redundant fault tolerance function comprises the following steps:
s1: determining a monitoring sensor to actuator motion monitoring cycle timeWherein->Monitoring the period interval duration for the actuator movement, +.>For the start time of the actuator motion detection cycle, +.>For the end time of the motion monitoring period of the executing mechanism, a constant-speed monitoring time interval is created>Wherein->For the duration of the interval of the constant speed detection time interval, +.>To monitor time interval at constant speedStart time of->Detecting the ending time of the time interval at a constant speed;
s2: the method comprises the steps that the movement of an executing mechanism is monitored in real time through a first monitoring sensor and a second monitoring sensor at the same time, and a first monitoring data set UA and a second monitoring data set UB are obtained through parallel and vertical collection time integration of collected monitoring data sets;
s3: during the read monitoring periodData Ate and Bte monitored by the first monitoring sensor and the second monitoring sensor at the moment, wherein +.>＜/>Comparing Ate with Bte, and identifying whether Ate and Bte are consistent;
step S4 is carried out when the Ate and Bte correspond to each other;
step S5 is carried out when the Ate and Bte do not correspond to each other;
s4: the first monitoring sensor or the second monitoring sensor is arbitrarily controlled to acquire final monitoring data of the executing mechanism and feed back the final monitoring data to the control platform, and the control platform generates a control instruction according to the received data to continuously and automatically control the executing mechanism;
s5: respectively and sequentially calling corresponding uniform-speed monitoring time intervals in the first monitoring sensor data set UA and the second monitoring sensor data set UBThe data in the first and second monitoring sensors are integrated to obtain the first and second diagnosis data sets UAc and UBc, and the first and second monitoring sensors are subjected to associated fault diagnosis based on the first and second diagnosis data sets UAc and UBc.
As a further description of the above technical solution: step S1 is to determine the motion monitoring period of the monitoring sensor to the executing mechanismTimeCreating a constant speed monitoring time interval +.>The method specifically comprises the following steps:
s1.1: determining a monitoring sensor to actuator motion monitoring cycle timeThe method comprises the steps of obtaining motion state information of an executing mechanism in the period of monitoring motion of the executing mechanism by a monitoring sensor, wherein the motion state information comprises an acceleration motion state of the executing mechanism, a uniform motion state of the executing mechanism and a deceleration motion state of the executing mechanism;
s1.2: identifying a time period corresponding to the uniform motion state of the executing mechanism, and correspondingly creating a uniform monitoring time interval；
Wherein,。
as a further description of the above technical solution: comparing Ate with Bte, and identifying whether Ate and Bte are consistent or not specifically comprises:
when the absolute value of Ate-Bte is less than or equal to delta Z, the data collected by the same node monitoring of the first monitoring sensor and the second monitoring sensor are consistent, namely that the first monitoring sensor and the second monitoring sensor have no faults;
when |Ate-Bte | >. DELTA.Z, the first monitoring sensor and the second monitoring sensor are inconsistent in data collected by the same node, namely the first monitoring sensor or the second monitoring sensor has faults, wherein DELTA.Z is the error threshold value of the data collected by the monitoring sensors.
As a further description of the above technical solution: the first diagnostic data set UAc and the second diagnostic data set UBc are respectively:
UAc { (A1, t 1), (A2, t 2) } (An, tn) }, and UAc e UA,
UBc { (B1, t 1), (B2, t 2) } (Bn, tn), and UBc e UB;
(An, tn) represents that the first monitoring sensor monitors the acquired data at tn as An, (Bn, tn) represents that the second monitoring sensor monitors the acquired data at tn as Bn, wherein the t1, tn 2. Tn interval durations are the same, and。
as a further description of the above technical solution: the performing the associated fault diagnosis on the first monitoring sensor and the second monitoring sensor based on the first diagnostic data set UAc and the second diagnostic data set UBc is specifically:
calculating a constant monitoring time interval for the first monitoring sensor based on the first diagnostic data set UAcTotal value of fluctuation in->，
；
Calculating a constant speed monitoring time interval for the second monitoring sensor based on the second diagnostic data set UBcTotal value of fluctuation in->，
；
Comparison ofAnd->Is used as a reference to the value of (a),
when (when)Indicating a first monitoring sensor failure;
when (when)And when a second monitoring sensor fails.
As a further description of the above technical solution: when the first monitoring sensor fails, the second monitoring sensor is controlled to acquire final monitoring data of the executing mechanism and feed back the final monitoring data to the control platform, and the control platform generates a control instruction according to the received data to continuously and automatically control the executing mechanism.
As a further description of the above technical solution: when the second monitoring sensor fails, the first monitoring sensor is controlled to acquire final monitoring data of the executing mechanism and feed back the final monitoring data to the control platform, and the control platform generates a control instruction according to the received data to continuously and automatically control the executing mechanism.
As a further description of the above technical solution: when the first monitoring sensor or the second monitoring sensor fails, the failure signal is fed back to the control platform, and the control platform alarms and reminds.
The automatic control system with the redundant fault-tolerant function comprises an execution mechanism and a control platform, wherein the control platform is electrically connected with the execution mechanism, and the control mechanism is used for controlling the movement of the execution mechanism and further comprises:
the redundant monitoring module comprises a first monitoring sensor and a second monitoring sensor, wherein the first monitoring sensor and the second monitoring sensor are arranged on the executing mechanism and are used for monitoring and acquiring the motion data of the executing mechanism;
the fault identification and diagnosis unit is electrically connected with the redundant monitoring module and the control platform and is used for carrying out fault identification and diagnosis on the first monitoring sensor and the second monitoring sensor in the redundant monitoring module and integrating the identification and diagnosis results with the feedback control platform.
As a further description of the above technical solution: the fault monitoring unit comprises a data acquisition module, a fault identification module and a fault analysis module;
the data acquisition module is used for acquiring data of the first monitoring sensor and the second monitoring sensor for monitoring the motion of the executing mechanism;
the fault identification module correspondingly identifies and judges whether the first monitoring sensor and the second monitoring sensor have faults or not based on the collected data;
when the first monitoring sensor or the second monitoring sensor fails, the fault diagnosis module extracts diagnosis data based on the collected data and performs associated fault diagnosis on the first monitoring sensor and the second monitoring sensor based on the diagnosis data.
In the technical scheme, the automatic control system with the redundant fault tolerance function and the control method provided by the invention have the following beneficial effects:
drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings may be obtained according to these drawings for a person having ordinary skill in the art.
FIG. 1 is a block flow diagram of an automated control method with redundant fault tolerance according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an automatic control system with redundant fault tolerance according to an embodiment of the present invention.
Detailed Description
In order to make the technical scheme of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the accompanying drawings.
Embodiment one: referring to fig. 1, the embodiment of the invention provides a technical scheme: an automatic control method with a redundant fault tolerance function comprises the following steps:
s1: determining a monitoring sensor to actuator motion monitoring cycle timeWherein->Monitoring the period interval duration for the actuator movement, +.>For the start time of the actuator motion detection cycle, +.>For the end time of the motion monitoring period of the executing mechanism, a constant-speed monitoring time interval is created>Wherein->For the duration of the interval of the constant speed detection time interval, +.>For monitoring the start time of the time interval at constant speed, +.>Detecting the ending time of the time interval at a constant speed; the monitoring sensor is used for monitoring and collecting the motion data of the executing mechanism, if the executing mechanism is a moving mechanism, the monitoring sensor is a displacement sensor, the monitoring sensor is used for collecting the motion data of the executing mechanism, and the motion monitoring period time of the executing mechanism is a time section monitored by the monitoring sensor in real time when the executing mechanism completes the motion process of the target;
monitoring the period time of the motion of the actuating mechanism by the monitoring sensorCreating a constant speed monitoring time interval +.>The method specifically comprises the following steps:
s1.1: determining a monitoring sensor to actuator motion monitoring cycle timeThe method comprises the steps of obtaining motion state information of an executing mechanism in the period of monitoring motion of the executing mechanism by a monitoring sensor, wherein the motion state information comprises an acceleration motion state of the executing mechanism, a uniform motion state of the executing mechanism and a deceleration motion state of the executing mechanism;
s1.2: identifying a time period corresponding to the uniform motion state of the executing mechanism, and correspondingly creating a uniform monitoring time interval；
Wherein,，
when the actuator is a moving mechanism, the process from the beginning to the end of the movement is divided into three processes, namely an acceleration movement state at the beginning, a constant movement state when the speed reaches a rated moving speed, a deceleration movement state when the movement work is to be completed and stopped, a time section of the constant movement state of the actuator is acquired by identifying and determining the movement process of the actuator, and the time section is set as。
S2: the method comprises the steps that the movement of an executing mechanism is monitored in real time through a first monitoring sensor and a second monitoring sensor at the same time, and a first monitoring data set UA and a second monitoring data set UB are obtained through parallel and vertical collection time integration of collected monitoring data sets; the first monitoring sensor and the second monitoring sensor are identical in information of monitoring and collecting motion conditions of the executing mechanism, and are distinguished through the first monitoring sensor and the second monitoring sensor for convenience in description, namely the first monitoring sensor and the second monitoring sensor are both used for monitoring and collecting motion cleaning of the executing mechanism in real time, data collected by the first monitoring sensor are integrated based on a time sequence to obtain a first monitoring data set UA, and data collected by the second monitoring sensor are integrated based on the time sequence to obtain a second monitoring data set UB.
S3: during the read monitoring periodData Ate and Bte monitored by the first monitoring sensor and the second monitoring sensor at the moment, wherein +.>＜/>The first monitoring sensor and the second monitoring sensor are the same in information collected by monitoring the motion condition of the actuator, and the first and the second sensors are used for distinguishing for convenience of description, so when the first monitoring sensor and the second monitoring sensor monitor the motion of the actuator simultaneously in real time, when the first monitoring sensor and the second monitoring sensor have no faults, the first monitoring sensor and the second monitoring sensor are not in charge of reading the same time node->The data Ate monitored and collected by the first monitoring sensor and the data Bte monitored and collected by the second monitoring sensor are correspondingly consistent at the moment, (the corresponding coincidence means that the data Ate monitored and collected by the first monitoring sensor and the data Bte monitored and collected by the second monitoring sensor are equal in the normal error of the data monitored and collected by the monitoring sensors);
comparing Ate with Bte, and identifying whether Ate and Bte are consistent or not specifically comprises:
when the absolute value of Ate-Bte is less than or equal to delta Z, wherein delta Z is the error threshold value of the data collected by the monitoring sensor, the data collected by the same node monitoring of the first monitoring sensor and the second monitoring sensor are correspondingly consistent, namely the first monitoring sensor and the second monitoring sensor have no faults;
when |Ate-Bte | >. DELTA Z, wherein DELTA Z is the error threshold value of the data collected by the monitoring sensor, the data collected by the same node monitoring of the first monitoring sensor and the second monitoring sensor are inconsistent, namely the first monitoring sensor or the second monitoring sensor has faults.
The first monitoring sensor and the second monitoring sensor are identified through corresponding and consistent analysis on the data acquired by the first monitoring sensor and the data acquired by the second monitoring sensor at the same monitoring time node, and compared with the traditional method of comparing and identifying the data acquired by the monitoring sensors with the preset threshold value or the variation threshold value respectively, the method remarkably improves the accuracy and the accuracy of identification, and simultaneously is more convenient and accurate for identifying faults of the two sensors.
When the data Ate collected by the first monitoring sensor and the data Bte collected by the second monitoring sensor correspond to each other, it indicates that no fault occurs in the first monitoring sensor and the second monitoring sensor, and step S4, S4 are entered: when the first monitoring sensor and the second monitoring sensor have no faults, namely the data acquired by the first monitoring sensor and the second monitoring sensor are effective data, the first monitoring sensor or the second monitoring sensor is only required to be controlled at will to acquire final monitoring data of the executing mechanism and feed back the final monitoring data to the control platform, and the control platform generates a control instruction according to the received data to continuously and automatically control the executing mechanism;
when the data Ate collected by the first monitoring sensor and the data Bte collected by the second monitoring sensor are not consistent, the first monitoring sensor or the second monitoring sensor is indicated to have faults, at the moment, one of the first monitoring sensor and the second monitoring sensor is indicated to collect faults, diagnosis and analysis are needed to be carried out to determine which of the first monitoring sensor and the second monitoring sensor has faults, and the step S5 is entered;
s5: respectively and sequentially calling corresponding uniform-speed monitoring time intervals in the first monitoring sensor data set UA and the second monitoring sensor data set UBThe data in the first and second diagnostic data sets UAc and UBc are obtained by integration;
the first diagnostic data set UAc and the second diagnostic data set UBc are respectively:
UAc { (A1, t 1), (A2, t 2) } (An, tn) }, and UAc e UA, (An, tn) represents that the data collected by the first monitoring sensor at tn is An, where the t1, t2..tn intervals are the same in duration, andthe first diagnostic data set UAc is the corresponding constant monitoring time interval in the first monitoring sensor set UA>A subset of data within;
UBc { (B1, t 1), (B2, t 2) } (Bn, tn) }, and UBc e UB, (Bn, tn) represents that the data collected by the second monitoring sensor at tn is Bn, where t1, t2 are equal in interval duration andthe second diagnostic data set UBc is the corresponding constant monitoring time interval +.>A subset of data within.
The first and second monitoring sensors are subjected to an associated fault diagnosis based on the first and second diagnostic data sets UAc and UBc.
The method comprises the following steps: calculating a constant monitoring time interval for the first monitoring sensor based on the first diagnostic data set UAcTotal value of fluctuation in->，
；
Calculating a constant speed monitoring time interval for the second monitoring sensor based on the second diagnostic data set UBcTotal value of fluctuation in->，
；
Comparison ofAnd->Is to analyze and diagnose the fault condition of the first monitoring sensor and the second monitoring sensor whenIndicating a first monitoring sensor failure; when->And when a second monitoring sensor fails.
Monitoring time intervals at constant speed by acquisitionThe first monitoring sensor and the second monitoring sensor monitor the acquired data set, namely, the constant speed monitoring time interval +.>The inner actuating mechanism keeps a uniform motion state, the interval duration of t1 and t2 is the same, it is obvious that the monitoring sensor with faults changes when the data fluctuation condition of the monitoring collection with faults occurs, the monitoring sensor without faults monitors the data fluctuation condition of the collection to be stable, and the first monitoring sensor and the second monitoring sensor are calculated to monitor the time interval at uniform speed>The total value of the fluctuation of the data collected in the method is compared to realize the purpose of comparing the first monitoring sensor with the second monitoring sensorThe fault condition is determined by diagnosis.
Further, the method creates a constant speed monitoring time interval in the motion monitoring cycle time by the actuating mechanismThen, diagnostic data sets of the first monitoring sensor and the second monitoring sensor in a constant speed monitoring time interval are obtained, then fluctuation total values of monitoring collected data of the two monitoring sensors in the constant speed monitoring time interval are calculated respectively, comparison is carried out to realize diagnosis and determination of fault conditions of the first monitoring sensor and the second monitoring sensor, accuracy of diagnosis and determination of the fault sensors is remarkably improved, running stability of an automatic control system is improved, and a time node for fault identification and collection is located in the constant speed monitoring time interval>Before, realize realizing when a certain monitoring sensor breaks down and realize quick monitoring and confirm, need not to shut down and monitor, improve automatic control system's fault-tolerant effect.
When the first monitoring sensor fails, the second monitoring sensor is controlled to acquire final monitoring data of the executing mechanism and feed back the final monitoring data to the control platform, and the control platform generates a control instruction according to the received data to continuously and automatically control the executing mechanism. When the second monitoring sensor fails, the first monitoring sensor is controlled to acquire final monitoring data of the executing mechanism and feed back the final monitoring data to the control platform, and the control platform generates a control instruction according to the received data to continuously and automatically control the executing mechanism. When the first monitoring sensor or the second monitoring sensor fails, the failure signal is fed back to the control platform, and the control platform alarms and reminds. The probability of simultaneous failure of the first monitoring sensor and the second monitoring sensor is normally extremely low, so that when the first monitoring sensor and the second monitoring sensor are subjected to the associated failure diagnosis based on the first diagnosis data set UAc and the second diagnosis data set UBc, the simultaneous failure of the first monitoring sensor and the second monitoring sensor can be ignored, and only one of the first monitoring sensor and the second monitoring sensor fails by default.
The automatic control method with the redundant fault tolerance function further comprises the step of adding a first fluctuation total valueAnd the fluctuation sum->Comparing with the error threshold DeltaZ of the data collected by the monitoring sensor, when +.>The time > (n-1) ΔZ indicates a first monitoring sensor failure,the case of > (n-1) ΔZ represents a second monitoring sensor fault and performs a combined double diagnosis of the first monitoring sensor and the second monitoring sensor in association with the first diagnosis data set UAc and the second diagnosis data set UBc.
Embodiment two: referring to fig. 2, another technical solution is provided in the embodiment of the present invention: the automatic control system with the redundant fault-tolerant function comprises an execution mechanism and a control platform, wherein the control platform is electrically connected with the execution mechanism, and the control mechanism is used for controlling the movement of the execution mechanism and further comprises:
the redundant monitoring module comprises a first monitoring sensor and a second monitoring sensor, wherein the first monitoring sensor and the second monitoring sensor are arranged on the executing mechanism and are used for monitoring and acquiring the motion data of the executing mechanism;
the fault identification and diagnosis unit is electrically connected with the redundant monitoring module and the control platform and is used for carrying out fault identification and diagnosis on the first monitoring sensor and the second monitoring sensor in the redundant monitoring module and integrating the identification and diagnosis results with the feedback control platform.
The fault identification and diagnosis unit comprises a data acquisition module, a fault identification module and a fault diagnosis module; the output end of the data acquisition module is electrically connected with the input end of the fault identification module, the output end of the fault identification module is electrically connected with the input end of the fault diagnosis module, so that data interaction transmission is realized, and the data acquisition module is used for acquiring the data of the first monitoring sensor and the second monitoring sensor for monitoring the motion of the executing mechanism; the fault identification module performs joint identification based on the collected data to judge whether the first monitoring sensor and the second monitoring sensor have faults or not; when the first monitoring sensor or the second monitoring sensor fails, the fault diagnosis module extracts diagnosis data based on the collected data and performs associated fault diagnosis on the first monitoring sensor and the second monitoring sensor based on the diagnosis data.
While certain exemplary embodiments of the present invention have been described above by way of illustration only, it will be apparent to those of ordinary skill in the art that modifications may be made to the described embodiments in various different ways without departing from the spirit and scope of the invention. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restrictive of the scope of the invention, which is defined by the appended claims.
Claims (10)
1. The automatic control method with the redundant fault-tolerant function is characterized by comprising the following steps of:
s1: determining a monitoring sensor to actuator motion monitoring cycle timeWherein->Monitoring the period interval duration for the actuator movement, +.>For the start time of the actuator motion detection cycle, +.>For the end time of the motion monitoring period of the executing mechanism, a constant-speed monitoring time interval is created>The method comprises the steps of carrying out a first treatment on the surface of the Wherein->For the duration of the interval of the constant speed detection time interval, +.>For monitoring the start time of the time interval at constant speed, +.>Detecting the ending time of the time interval at a constant speed;
s2: the method comprises the steps that the movement of an executing mechanism is monitored in real time through a first monitoring sensor and a second monitoring sensor at the same time, and a first monitoring data set UA and a second monitoring data set UB are obtained through parallel and vertical collection time integration of collected monitoring data sets;
s3: during the read monitoring periodData Ate and Bte monitored by the first monitoring sensor and the second monitoring sensor at the moment, wherein +.>＜/>Comparing Ate with Bte, and identifying whether Ate and Bte are consistent;
step S4 is carried out when the Ate and Bte correspond to each other;
step S5 is carried out when the Ate and Bte do not correspond to each other;
s4: the first monitoring sensor or the second monitoring sensor is arbitrarily controlled to acquire final monitoring data of the executing mechanism and feed back the final monitoring data to the control platform, and the control platform generates a control instruction according to the received data to continuously and automatically control the executing mechanism;
s5: sequentially retrieving the first monitoring sensor data set UA and the second monitoring data set UA, respectivelyCorresponding constant speed monitoring time intervals in data set UBThe data in the first and second monitoring sensors are integrated to obtain the first and second diagnosis data sets UAc and UBc, and the first and second monitoring sensors are subjected to associated fault diagnosis based on the first and second diagnosis data sets UAc and UBc.
2. The automated control method with redundant fault tolerance according to claim 1, wherein step S1 determines a monitoring sensor to actuator motion monitoring cycle timeCreating a constant speed monitoring time intervalThe method specifically comprises the following steps:
s1.1: determining a monitoring sensor to actuator motion monitoring cycle timeThe method comprises the steps of obtaining motion state information of an executing mechanism in the period of monitoring motion of the executing mechanism by a monitoring sensor, wherein the motion state information comprises an acceleration motion state of the executing mechanism, a uniform motion state of the executing mechanism and a deceleration motion state of the executing mechanism;
s1.2: identifying a time period corresponding to the uniform motion state of the executing mechanism, and correspondingly creating a uniform monitoring time interval；
Wherein,。
3. the automated control method with redundant fault tolerance according to claim 1, wherein comparing the Ate and Bte to identify whether the Ate and Bte correspond to a coincidence is specifically:
when the absolute value of Ate-Bte is less than or equal to delta Z, the data collected by the same node monitoring of the first monitoring sensor and the second monitoring sensor are consistent, and the first monitoring sensor and the second monitoring sensor have no faults;
when |Ate-Bte | >. DELTA.Z, the first monitoring sensor and the second monitoring sensor are inconsistent in data collected by the same node, which means that the first monitoring sensor or the second monitoring sensor has faults, wherein DELTA.Z is the error threshold value of the data collected by the monitoring sensors.
4. The automated control method with redundant fault tolerance according to claim 1, wherein the first diagnostic data set UAc and the second diagnostic data set UBc are each:
UAc { (A1, t 1), (A2, t 2) } (An, tn) }, and UAc e UA,
UBc { (B1, t 1), (B2, t 2) } (Bn, tn), and UBc e UB;
(An, tn) represents that the first monitoring sensor monitors the acquired data at tn as An, (Bn, tn) represents that the second monitoring sensor monitors the acquired data at tn as Bn, wherein the t1, tn 2. Tn interval durations are the same, and。
5. the automated control method with redundant fault tolerance of claim 4, wherein performing an associated fault diagnosis for the first monitoring sensor and the second monitoring sensor based on the first diagnostic data set UAc and the second diagnostic data set UBc is specifically:
calculating a constant monitoring time interval for the first monitoring sensor based on the first diagnostic data set UAcTotal value of fluctuation in->，
；
Calculating a constant speed monitoring time interval for the second monitoring sensor based on the second diagnostic data set UBcTotal value of fluctuation in->，
；
Comparison ofAnd->Is used for analyzing and diagnosing the fault condition of the first monitoring sensor and the second monitoring sensor when +.>At the same time, a first monitoring sensor failure is indicated, when +.>And when a second monitoring sensor fails.
6. The automated control method with redundant fault tolerance according to claim 5, wherein when the first monitoring sensor fails, the second monitoring sensor is controlled to collect final monitoring data of the actuator and feedback the final monitoring data to the control platform, and the control platform generates a control command according to the received data to continuously and automatically control the actuator.
7. The automated control method with redundant fault tolerance according to claim 5, wherein when the second monitoring sensor fails, the first monitoring sensor is controlled to collect final monitoring data of the actuator and feedback the final monitoring data to the control platform, and the control platform generates a control command according to the received data to continuously and automatically control the actuator.
8. The automated control method with redundant fault tolerance according to claim 5, wherein when the first monitoring sensor or the second monitoring sensor fails, a failure signal is fed back to the control platform, and the control platform alarms.
9. The automatic control system with the redundant fault-tolerant function comprises an execution mechanism and a control platform, wherein the control platform is electrically connected with the execution mechanism, and the control mechanism is used for controlling the movement of the execution mechanism, and is characterized by further comprising:
the redundant monitoring module comprises a first monitoring sensor and a second monitoring sensor, wherein the first monitoring sensor and the second monitoring sensor are arranged on the executing mechanism and are used for monitoring and acquiring the motion data of the executing mechanism;
the fault identification and diagnosis unit is electrically connected with the redundant monitoring module and the control platform and is used for carrying out fault identification and diagnosis on the first monitoring sensor and the second monitoring sensor in the redundant monitoring module and integrating the identification and diagnosis results with the feedback control platform.
10. The automated control system with redundant fault tolerance according to claim 9, wherein the fault identification and diagnosis unit comprises a data acquisition module, a fault identification module, and a fault diagnosis module;
the data acquisition module is used for acquiring data of the first monitoring sensor and the second monitoring sensor for monitoring the motion of the executing mechanism;
the fault identification module performs joint identification based on the collected data to judge whether the first monitoring sensor and the second monitoring sensor have faults or not;
when the first monitoring sensor or the second monitoring sensor fails, the fault diagnosis module extracts diagnosis data based on the collected data and performs associated fault diagnosis on the first monitoring sensor and the second monitoring sensor based on the diagnosis data.
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