CN118092129A

CN118092129A - Redundancy control device and method

Info

Publication number: CN118092129A
Application number: CN202410149725.0A
Authority: CN
Inventors: 徐华林; 汪冬亮; 孙科
Original assignee: China Automotive Innovation Corp
Current assignee: China Automotive Innovation Corp
Priority date: 2024-02-01
Filing date: 2024-02-01
Publication date: 2024-05-28

Abstract

The application relates to a redundancy control device and a redundancy control method, wherein the redundancy control device comprises a first control module, a second control module, a first switching module, a second switching module, a first enabling module and a second enabling module, wherein the first control module and the second control module are used for mutually detecting port state signals of opposite output ports and respectively outputting corresponding control signals based on the detected port state signals, and the first switching module and the second switching module are both used for outputting corresponding switching signals based on the received control signals so that the first enabling module and the second enabling module are in a connection state or a disconnection state based on the received control signals and the switching signals respectively.

Description

Redundancy control device and method

Technical Field

The present application relates to the field of electronic circuit control technologies, and in particular, to a redundancy control device and method.

Background

In the redundancy control process, in order to meet the requirements of high reliability and high safety, a safety mechanism of master-slave switching is usually added in a circuit control design, and the working principle is that when a master control module fails, a backup module is connected with the master control module to control, so that the control of partial functions is realized, but the master-slave switching cannot meet the safety requirement under full redundancy backup, and the master-slave switching often has the following problems that firstly, the backup module cannot cover all failure modes of the master control module; secondly, when common cause failure occurs, the backup module has the risk of being unable to take over the main control module; thirdly, the backup module cannot realize all functions of the main control module; fourth, the switching control of the backup module and the main control module occupies more control unit resources.

Disclosure of Invention

In order to solve the technical problems in the master-slave switching process, the embodiment of the application provides a technical scheme of a redundancy control device and a redundancy control method, namely, the first control module, the second control module, the first switching module, the second switching module, the first enabling module and the second enabling module are arranged, so that a plurality of control modules can control a module to be controlled without dividing master and slave in the redundancy control process, the situation that the master and slave control modules cannot mutually take over due to common failure is avoided, and the safety and reliability of redundancy control are improved.

In one aspect, an embodiment of the present application provides a redundancy control apparatus, where the redundancy control apparatus includes a first control module, a second control module, a first switching module, a second switching module, a first enabling module, and a second enabling module;

The output end of the first control module is connected with the input end of the second control module, the input end of the second switching module and the first input end of the first enabling module respectively, the output end of the second switching module is connected with the second input end of the second enabling module, and the output end of the first enabling module is used for being connected with a module to be controlled;

The output end of the second control module is respectively connected with the input end of the first control module, the input end of the first switching module and the first input end of the second enabling module, the output end of the first switching module is connected with the second input end of the first enabling module, the output end of the second enabling module is connected with the module to be controlled, and the third input end of the first enabling module and the third input end of the second enabling module are both used for being connected with a power supply module;

The first control module and the second control module are used for mutually detecting port state signals of output ports of the other side, and respectively outputting corresponding control signals based on the detected port state signals, and the first switching module and the second switching module are both used for outputting corresponding switching signals based on the received control signals so that the first enabling module and the second enabling module are in a conducting state or a disconnecting state based on the received control signals and the switching signals respectively.

Further, the first switching module comprises a third triode and a fourth current limiting resistor;

One end of the fourth current limiting resistor is connected with the output end of the second control module, the other end of the fourth current limiting resistor is connected with the base electrode of the third triode, the collector electrode of the third triode is connected with the base electrode of the first triode, and the emitter electrode of the third triode is grounded.

Further, the first enabling module comprises a first enabling unit, a second enabling unit and a third current limiting resistor;

The first input end of the first enabling unit is connected with the output end of the first control module, the second input end of the first enabling unit is connected with the output end of the first switching module, the output end of the first enabling unit is connected with the first input end of the second enabling unit, the second input end of the second enabling unit is used for being connected with the power supply module, and the output end of the second enabling unit is connected with the module to be controlled through the third current limiting resistor.

Further, the first enabling unit comprises a first triode and a first current limiting resistor, and the second enabling unit comprises a second triode and a second current limiting resistor;

one end of the first current limiting resistor is connected with the output end of the first control module, the other end of the first current limiting resistor is connected with the base electrode of the first triode, the collector electrode of the first triode is connected with the base electrode of the second triode through the second current limiting resistor, and the emitter electrode of the first triode is grounded;

the emitting electrode of the second triode is used for being connected with a power supply, and the collecting electrode of the second triode is connected with the module to be controlled through the third current limiting resistor.

Further, the second switching module comprises a sixth triode and an eighth current limiting resistor;

one end of the eighth current limiting resistor is connected with the output end of the first control module, the other end of the eighth current limiting resistor is connected with the base electrode of the sixth triode, the collector electrode of the sixth triode is connected with the base electrode of the fourth triode, and the emitter electrode of the sixth triode is grounded.

Further, the second enabling module comprises a third enabling unit, a fourth enabling unit and a seventh current limiting resistor;

The first input end of the third enabling unit is connected with the output end of the second control module, the second input end of the third enabling unit is connected with the output end of the second switching module, the output end of the third enabling unit is connected with the first input end of the fourth enabling unit, the second input end of the fourth enabling unit is used for being connected with the power supply module, and the output end of the fourth enabling unit is connected with the module to be controlled through the seventh current limiting resistor.

Further, the third enabling unit comprises a fourth triode and a fifth current limiting resistor, and the fourth enabling unit comprises a fifth triode and a sixth current limiting resistor;

one end of the fifth current limiting resistor is connected with the output end of the second control module, the other end of the fifth current limiting resistor is connected with the base electrode of the fourth triode, the collector electrode of the fourth triode is connected with the base electrode of the fifth triode through the sixth current limiting resistor, and the emitter electrode of the fourth triode is grounded;

and the emitter of the fifth triode is connected with the power supply, and the collector of the fifth triode is connected with the module to be controlled through the seventh current limiting resistor.

In another aspect, an embodiment of the present application provides a redundancy control method, where the redundancy control method is applied to the redundancy control apparatus described in the first aspect, and the redundancy control method includes:

A first control module in the redundant control device detects a first port state signal of an output port of a second control module in the redundant control device and outputs the first control signal based on the first port state signal, and a second control module in the redundant control device detects a second port state signal of the output port of the first control module and outputs the second control signal based on the second port state signal;

The first switching module in the redundancy control device is used for outputting a first switching signal to the first enabling module in the redundancy control device based on the second control signal, so that the first enabling module controls the power supply module to charge or not charge the module to be controlled based on the first control signal and the first switching signal;

the second switching module in the redundancy control device is used for outputting a second switching signal to the second enabling module in the redundancy control device based on the first control signal, so that the second enabling module controls the power supply module to not charge or charge the module to be controlled based on the second control signal and the second switching signal.

Further, the first control module is configured to generate a first control sub-signal when detecting that a first port state signal output by an output port of the second control module meets a first preset condition, where the first control sub-signal is used to control the second switching module to output a second switching sub-signal, and the first preset condition is that the first port state signal output by the output port of the second control module is the same as a preset port state signal of the output port of the second control module;

The second control module is configured to generate a second control sub-signal when detecting that a second port state signal output by the output port of the first control module meets a second preset condition, where the second control sub-signal is used to control the first switching module to output a first switching sub-signal, and the second preset condition is that the second port state signal output by the output port of the first control module is the same as a preset port state signal of the output port of the first control module;

The first enabling module controls the power supply module to charge the module to be controlled based on the first control sub-signal and the first switching sub-signal, and the second enabling module controls the power supply module to not charge the module to be controlled based on the second control sub-signal and the second switching sub-signal.

Further, the first control module is configured to generate a third control sub-signal when detecting that the first port state signal output by the output port of the second control module meets a third preset condition, where the third control sub-signal is used to control the second switching module to output a fourth switching sub-signal, and the third preset condition is that the first port state signal output by the output port of the second control module is different from the preset port state signal of the output port of the second control module;

The second control module is configured to generate a fourth control sub-signal when detecting that the second port status signal output by the output port of the first control module meets a fourth preset condition, where the fourth control sub-signal is used to control the first switching module to output a third switching sub-signal, and the fourth preset condition is that the second port status signal output by the output port of the first control module is different from the preset port status signal of the output port of the first control module;

the first enabling module controls the power supply module to charge or not charge the module to be controlled based on the third control sub-signal and the third switching sub-signal, and the second enabling module controls the power supply module to not charge or charge the module to be controlled based on the fourth control sub-signal and the fourth switching sub-signal.

The implementation of the application has the following beneficial effects:

The application realizes that a plurality of control modules can control the modules to be controlled without dividing master and slave in the redundancy control process by arranging the first control module, the second control module, the first switching module, the second switching module, the first enabling module and the second enabling module, so as to avoid the situation that the master control module and the slave control module cannot take over each other due to common cause failure, and improve the safety and the reliability of the redundancy control.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of a redundancy control device according to an embodiment of the present application;

Fig. 2 is a circuit diagram corresponding to a redundancy control device according to an embodiment of the present application;

Wherein, the reference numerals correspond to: 1-a first control module; 2-a second control module; 3-a first switching module; 31-a third triode; 32-fourth current limiting resistor; 4-a second switching module; 41-a sixth triode; 42-eighth current limiting resistor; 5-a first enabling module; 51-a first triode; 52-a second triode; 53-a first current limiting resistor; 54-a second current limiting resistor; 55-a third current limiting resistor; 6-a second enabling module; 61-fourth transistor; 62-a fifth triode; 63-a fifth current limiting resistor; 64-sixth current limiting resistor; 65-seventh current limiting resistor; 7, a module to be controlled; 8-pull-down resistor.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Referring to fig. 1-2, a detailed description of a redundancy control apparatus according to an embodiment of the present application is provided below with reference to fig. 1-2.

The embodiment of the application provides a redundancy control device, which specifically comprises a first control module 1, a second control module 2, a first switching module 3, a second switching module 4, a first enabling module 5 and a second enabling module 6.

The output end of the first control module 1 is respectively connected with the input end of the second control module 2, the input end of the second switching module 4 and the first input end of the first enabling module 5, the output end of the second switching module 4 is connected with the second input end of the second enabling module 6, and the output end of the first enabling module 5 is used for being connected with the module to be controlled 7;

The output end of the second control module 2 is respectively connected with the input end of the first control module 1, the input end of the first switching module 3 and the first input end of the second enabling module 6, the output end of the first switching module 3 is connected with the second input end of the first enabling module 5, the output end of the second enabling module 6 is connected with the module to be controlled 7, and the third input end of the first enabling module 5 and the third input end of the second enabling module 6 are both used for being connected with a power supply module;

The first control module 1 and the second control module 2 are configured to mutually detect a port status signal of an output port of the other party, and respectively output corresponding control signals based on the detected port status signals, and the first switching module 3 and the second switching module 4 are configured to output corresponding switching signals based on the received control signals, so that the first enabling module 5 and the second enabling module 6 are in an on or off state based on the received control signals and the switching signals, respectively.

In the embodiment of the application, the port state signals of the output ports of the opposite side are mutually detected between the first control module 1 and the second control module 2, so that when the output port of any control module has a fault of short circuit to a power supply or short circuit to the ground or open circuit to the ground, the control module which does not have the fault can directly obtain the taking over control right, and at least two control modules can perform the enabling control on the module 7 to be controlled without dividing master and slave in the redundancy control process, thereby avoiding the situation that the master and slave control modules cannot take over each other due to common cause failure and improving the safety and reliability of the redundancy control.

In a specific embodiment, the first control module 1 is configured to detect a first port status signal of an output port of the second control module 2 and output a first control signal corresponding to the first port status signal, and the second control module 2 is configured to detect a second port status signal of the output port of the first control module 1 and output a second control signal corresponding to the second port status signal.

Furthermore, the first switching module 3 outputs a first switching signal to the first enabling module 5 based on the second control signal, so that the first enabling module 5 is in an on or off state based on the first control signal and the first switching signal, and the power supply module can be controlled to charge or not charge the module to be controlled 7 by controlling the first enabling module 5 to be in an on or off state, the second switching module 4 is used for outputting a second switching signal to the second enabling module 6 based on the first control signal, and the second enabling module 6 is in an on or off state based on the second control signal and the second switching signal, and the power supply module can be controlled to charge or not charge the module to be controlled 7 by controlling the second enabling module 6 to be in an on or off state.

It should be noted that, the on-off state of the first enabling module 5 is different from the on-off state of the second enabling module 6, so as to realize redundant enabling control of the to-be-controlled module 7.

In a specific embodiment, the output port of the first control module 1 has the possibility of a power short circuit, a ground short circuit or a ground open circuit fault, and then the second control module 2 can detect the second port state signal of the output port of the first control module 1, so that when the output port of the first control module 1 fails, the second control module 2 takes over the control right of the first control module 1, so as to control the first enable module 5 or the second enable module 6 to be in a conducting state, so that the power supply module enables the module 7 to be controlled, and similarly, the output port of the second control module 2 has the possibility of a power short circuit, a ground short circuit or a ground open circuit fault, so that when the output port of the second control module 2 fails, the first control module 1 takes over the control right of the second control module 2, so as to control the first enable module 5 or the second enable module 6 to be in a conducting state, so that the power supply module 7 is enabled to be in a conducting state, and the redundancy between the master and slave control modules cannot be avoided.

In practical application, when the second control module 2 detects that the second port state signal output by the output port of the first control module 1 is the same as the preset port state signal of the output port of the first control module 1, it indicates that the first control module 1 is in a normal control state, and then the first control module 1 can be utilized to output a corresponding first control signal so that the first control module 1 realizes the enabling control of the to-be-controlled module 7, it should be noted that when the first control module 1 outputs the corresponding first control signal, the second control module 2 also outputs a second control signal with a different level from the first control signal so as to control the first switching module 3 to output the first switching signal to the first enabling module 5 while ensuring that only one of the first enabling module 5 and the second enabling module 6 enables the to-be-controlled module 7, so that the first switching module 3 and the first control module 1 jointly control the first enabling module 5 to be in a conducting state.

It should be noted that, if the first control module 1 and the second control module 2 are both in the normal control state, the normal control mode is entered, that is, if the first control module 1 is used as the main control and the second control module 2 is used as the backup control, the first control module 1 is used to control the first enabling module 5 to enable the module 7 to be controlled, and the second control module 2 is used to control the second enabling module 6 not to enable the module 7 to be controlled.

Specifically, the preset port state signal of the output port of the first control module 1 and the preset port state signal of the output port of the second control module 2 may be controlled to be low level signals, if the second port state signal of the output port of the first control module 1 and the first port state signal of the output port of the second control module 2 are both low level signals, it indicates that no fault to the power supply short circuit occurs in the output port of the first control module 1 and the output port of the second control module 2, and further the preset port state signal of the output port of the first control module 1 and the preset port state signal of the output port of the second control module 2 may be controlled to be high level signals, if the second port state signal of the output port of the first control module 1 and the first port state signal of the output port of the second control module 2 are both high level signals, it indicates that the output port of the first control module 1 and the output port of the second control module 2 have no fault of short circuit or open circuit to ground, so that the normal control mode can be entered, that is, the first control module 1 outputs a high level control sub-signal, the second control module 2 outputs a low level control sub-signal, and the first switching module 3 outputs a high level switching sub-signal based on the low level control sub-signal, so that the first enabling module 5 is in a conductive state based on the high level control sub-signal and the high level switching sub-signal to control the power supply module to charge the module to be controlled 7, the second switching module 4 outputs a low level switching sub-signal based on the high level control sub-signal to enable the second enabling module 6 to be in a disconnected state based on the low level control sub-signal and the low level switching sub-signal, so that the power supply module cannot charge the module to be controlled 7 through the second enabling module 6, thereby, it is ensured that the power supply module normally charges the module to be controlled 7 through the first enabling module 5 in the on state.

Further, when the second control module 2 detects that the second port status signal output by the output port of the first control module 1 is different from the preset port status signal of the output port of the first control module 1, it indicates that the first control module 1 is in an abnormal control state, and further, the first enabling module 5 or the second enabling module 6 can be used to control the module 7 to be controlled by using the second control module 2, and when the first control module 1 detects that the first port status signal output by the output port of the second control module 2 is different from the preset port status signal of the output port of the second control module 2, it indicates that the second control module 2 is in an abnormal control state, and further, the first enabling module 5 or the second enabling module 6 can be used to control the module 7 to be controlled by using the first control module 1.

Specifically, the preset port state signal of the output port of the first control module 1 and the preset port state signal of the output port of the second control module 2 may be controlled to be low level signals, if the second control module 2 detects that the second port state signal of the output port of the first control module 1 is high level signals, it indicates that there is a fault of shorting the power supply to the output port of the first control module 1, and further, the preset port state signal of the output port of the second control module 2 is controlled to be high level signals, if the first control module 1 detects that the first port state signal of the output port of the second control module 2 is high level signals, it indicates that the second control module 2 does not have a fault of shorting or opening to the ground, so that the second control module 2 outputs low level control sub-signals, and then the first switching module 3 outputs high level switching sub-signals based on the low level control sub-signals, so that the first enabling module 5 is in a conducting state based on the high level control sub-signals and the high level switching sub-signals, and if the first control module 1 detects that the first port state signal is in a conducting state to be powered on, and the second control module 7 is in a conducting state based on the low level control sub-signals, and the second switching sub-module 7 is unable to be in a conducting state to ensure that the second power supply module 7 is in a conducting state to be in a conducting state based on the low level control sub-state.

Further, when the preset port state signal of the output port of the first control module 1 and the preset port state signal of the output port of the second control module 2 are controlled to be low-level signals, if the first control module 1 detects that the first port state signal of the output port of the second control module 2 is high-level signals, it indicates that the output port of the second control module 2 has a fault of shorting the power supply, and further controls the preset port state signal of the output port of the first control module 1 to be high-level signals, if the second control module 2 detects that the second port state signal of the output port of the first control module 1 is high-level signals, it indicates that the first control module 1 does not have a fault of shorting or opening the ground, so that the first control module 1 outputs a low-level control sub-signal, and further, the first switching module 3 outputs a low-level switching sub-signal based on the high-level control sub-signal, so that the first enabling module 5 is in a disconnected state based on the low-level control sub-signal and the low-level switching sub-signal, and if the second control module 2 detects that the second port state signal of the output of the first control module 1 is high-level signals, the first control module 7 is in a normal state based on the high-level control sub-signal, and the second switching-level control module 7 is enabled to be in a state based on the high-level control sub-signal, and the first control module 7 is enabled to be in a state on the power supply module 6, and the power supply module is enabled to be in a normal state based on the high state, and the switching module is enabled by the high control module 7.

In another embodiment, when the preset port state signal of the output port of the first control module 1 and the preset port state signal of the output port of the second control module 2 are both low level signals, if the first control module 1 and the second control module 2 do not detect that the output port of the other side outputs a high level signal, it indicates that the output port of the first control module 1 and the output port of the second control module 2 are not failed to have a short circuit to the power supply, so that the preset port state signal of the output port of the first control module 1 and the preset port state signal of the output port of the second control module 2 can be controlled to be high level signals to detect whether a short circuit to ground or an open circuit exists, if the first control module 1 detects that the first port state signal of the output port of the second control module 2 is high level signal, the second control module 2 detects that the second port status signal of the output port of the first control module 1 is a low level signal, which indicates that the first control module 1 has a fault of short circuit or open circuit to ground, so that the second control module 2 outputs a high level control sub-signal, the first control module 1 outputs a low level control sub-signal due to the fault of short circuit or open circuit to ground, the first switching module 3 outputs a low level switching sub-signal based on the high level control sub-signal, so that the first enabling module 5 is in an off state based on the low level control sub-signal and the low level switching sub-signal, the power supply module cannot charge the module to be controlled 7 through the first enabling module 5, the second switching module 4 outputs a high level switching sub-signal based on the low level control sub-signal, so that the second enabling module 6 is in an on state based on the high level control sub-signal and the high level switching sub-signal, the power supply module is controlled to charge the module to be controlled 7, so that the power supply module can be ensured to charge the module to be controlled 7 normally through the second enabling module 6 in a conducting state.

Further, under the condition that the output port of the first control module 1 and the output port of the second control module 2 have no fault on the power supply short circuit, the preset port state signal of the output port of the first control module 1 and the preset port state signal of the output port of the second control module 2 are controlled to be high-level signals so as to detect whether the situation of the ground short circuit or the open circuit exists, if the first control module 1 detects that the first port state signal of the output port of the second control module 2 is the low-level signal, the second control module 2 detects that the second port state signal of the output port of the first control module 1 is the high-level signal, the second control module 2 is indicated to have the fault on the ground short circuit or the open circuit, so that the first control module 1 outputs the high-level control sub-signal, the second control module 2 outputs the high-level switching sub-signal based on the low-level control sub-signal, so that the first enable module 5 is in a state to be charged based on the high-level control sub-signal and the high-level switching sub-signal, and the second control module 7 is enabled to be in a state to be charged based on the low-level switching sub-signal, and the second control module 7 is enabled to be in a state to be charged by the low-level switching sub-control sub-module 6, and the power supply sub-module is enabled to be in a state to be charged by the low-level state based on the low-control sub-signal 6.

It should be noted that if the output port of the first control module 1 and the output port of the second control module 2 both fail, the system is degraded.

It should be noted that, the connection relationships among the first control module 1, the second control module 2, the first switching module 3, the second switching module 4, the first enabling module 5, the second enabling module 6 and the module to be controlled 7 are shown in fig. 1 and fig. 2, and further through the connection shown in fig. 1 and fig. 2, the redundant control module can perform the enabling control on the module to be controlled 7 without dividing the primary control module into the secondary control module and the primary control module into the primary control module and the secondary control module, which are caused by common cause failure, so that the occurrence of the situation that the primary control module and the secondary control module cannot mutually take over is avoided, and the safety of the redundant control is improved. Note that A, B, C, D, E, F, G, H, I, J, K, L and M shown in fig. 1 and 2 each represent a connection port between modules.

In a specific embodiment, the first switching module 3 includes a third triode 31 and a fourth current limiting resistor 32, where one end of the fourth current limiting resistor 32 is connected to the output end of the second control module 2, the other end of the fourth current limiting resistor 32 is connected to the base of the third triode 31, the collector of the third triode 31 is connected to the base of the first triode 51, and the emitter of the third triode 31 is grounded.

Specifically, the fourth current limiting resistor 32 is configured to limit the base current value of the third triode 31, so as to avoid damage to the third triode 31 caused by excessive base current value, and the base of the third triode 31 is configured to receive the second control signal output by the second control module 2, so that the third triode 31 is in a conducting or disconnecting state based on the received second control signal, and further can jointly control the on-off of the first enabling module 5 with the first control signal, so as to realize switching of redundancy control.

In a specific embodiment, when the second control module 2 outputs the high-level control sub-signal, since the third triode 31 is an NPN triode and the emitter is grounded, the third triode 31 is in a conducting state, at this time, the collector of the third triode 31 is pulled to a low level by the grounded emitter, and then the low-level switching sub-signal is output to the first enabling module 5, and when the second control module 2 outputs the low-level control sub-signal, since the voltage value of the base of the third triode 31 is not greater than the voltage value of the emitter, the third triode 31 is in an off state, at this time, the collector of the third triode 31 outputs a high level, and then the high-level switching sub-signal is output to the first enabling module 5, so as to control the on-off of the first enabling module 5 with the first control signal.

In a specific embodiment, the first enabling module 5 includes a first enabling unit, a second enabling unit, and a third current limiting resistor 55, where a first input end of the first enabling unit is connected to an output end of the first control module 1, a second input end of the first enabling unit is connected to an output end of the first switching module 3, an output end of the first enabling unit is connected to a first input end of the second enabling unit, a second input end of the second enabling unit is used to be connected to the power supply module, and an output end of the second enabling unit is connected to the module to be controlled 7 through the third current limiting resistor 55.

Specifically, the third current limiting resistor 55 is configured to limit the output current value of the second enabling unit to protect the module to be controlled 7, and the first enabling unit is configured to receive output signals of the first control module 1 and the first switching module 3, so as to control on-off of the second enabling unit, so that the power supply module can charge or not charge the module to be controlled 7 through the second enabling unit.

In an embodiment, the first enabling unit includes a first triode 51 and a first current limiting resistor 53, the second enabling unit includes a second triode 52 and a second current limiting resistor 54, specifically, one end of the first current limiting resistor 53 is connected to the output end of the first control module 1, the other end of the first current limiting resistor 53 is connected to the base of the first triode 51, the collector of the first triode 51 is connected to the base of the second triode 52 through the second current limiting resistor 54, and the emitter of the first triode 51 is grounded; the emitter of the second triode 52 is used for being connected with a power supply, and the collector of the second triode 52 is connected with the module 7 to be controlled through a third current limiting resistor 55.

In a specific embodiment, the first current limiting resistor 53 is used for limiting the base current value of the first triode 51 to avoid damage to the first triode 51 caused by an excessive base current value, the second current limiting resistor 54 is used for limiting the base current value of the second triode 52 to avoid damage to the second triode 52 caused by an excessive base current value, and the base of the first triode 51 is used for receiving the first control signal output by the first control module 1 and the first switching signal output by the first switching module 3, so that the first triode 51 is in a conducting or disconnecting state based on the received first control signal and the first switching signal, and further the on-off of the second triode 52 is controlled to realize the enabling of redundancy control.

In a specific embodiment, when the first control module 1 outputs the high level control sub-signal and the first switching module 3 outputs the high level switching sub-signal, since the first triode 51 is an NPN triode and the emitter is grounded, the first triode 51 is in a conductive state, at this time, the collector of the first triode 51 is pulled to a low level by the grounded emitter, the base of the second triode 52 is connected to the collector of the first triode 51 so that the base voltage of the second triode 52 is a low level, wherein the second triode 52 is a PNP triode, and the emitter of the second triode 52 is connected to the power supply module so that the second triode 52 is in a conductive state, and further, the power supply module can charge the module 7 to be controlled through the second triode 52.

When the first control module 1 outputs the low level control sub-signal and the first switching module 3 outputs the low level switching sub-signal, the base voltage value of the first triode 51 is not greater than the voltage value of the emitter, the first triode 51 is in an off state, at this time, the collector of the first triode 51 outputs a high level, the base of the second triode 52 is connected with the collector of the first triode 51, so that the second triode 52 is in an off state, and the power supply module cannot charge the module 7 to be controlled through the second triode 52.

In a specific embodiment, the second switching module 4 includes a sixth triode 41 and an eighth current limiting resistor 42, where one end of the eighth current limiting resistor 42 is connected to the output end of the first control module 1, the other end of the eighth current limiting resistor 42 is connected to the base of the sixth triode 41, the collector of the sixth triode 41 is connected to the base of the fourth triode 61, and the emitter of the sixth triode 41 is grounded.

Specifically, the eighth current limiting resistor 42 is configured to limit the base current value of the sixth triode 41, so as to avoid damage to the sixth triode 41 caused by an excessive base current value, and the base of the sixth triode 41 is configured to receive the first control signal output by the first control module 1, so that the sixth triode 41 is in a conducting or disconnecting state based on the received first control signal, and further can jointly control the on-off of the second enabling module 6 with the second control signal, so as to realize switching of redundancy control.

In a specific embodiment, when the first control module 1 outputs the high-level control sub-signal, since the sixth triode 41 is an NPN triode and the emitter is grounded, the sixth triode 41 is in a conducting state, at this time, the collector of the sixth triode 41 is pulled to a low level by the grounded emitter, and then the low-level switching sub-signal is output to the second enabling module 6, and when the first control module 1 outputs the low-level control sub-signal, since the voltage value of the base of the sixth triode 41 is not greater than the voltage value of the emitter, the sixth triode 41 is in an off state, at this time, the collector of the sixth triode 41 outputs a high level, and then the high-level switching sub-signal is output to the second enabling module 6, so as to control the on-off of the second enabling module 6 with the second control signal.

In a specific embodiment, the second enabling module 6 includes a third enabling unit, a fourth enabling unit, and a seventh current limiting resistor 65, where a first input end of the third enabling unit is connected to an output end of the second control module 2, a second input end of the third enabling unit is connected to an output end of the second switching module 4, an output end of the third enabling unit is connected to a first input end of the fourth enabling unit, a second input end of the fourth enabling unit is used to be connected to the power supply module, and an output end of the fourth enabling unit is connected to the module to be controlled 7 through the seventh current limiting resistor 65.

Specifically, the seventh current limiting resistor 65 is configured to limit the output current value of the fourth enabling unit to protect the module to be controlled 7, and the third enabling unit is configured to receive output signals of the second control module 2 and the second switching module 4, so as to control on-off of the fourth enabling unit, so that the power supply module can charge or not charge the module to be controlled 7 through the fourth enabling unit.

In an embodiment, the third enabling unit includes a fourth triode 61 and a fifth current limiting resistor 63, the fourth enabling unit includes a fifth triode 62 and a sixth current limiting resistor 64, specifically, one end of the fifth current limiting resistor 63 is connected to the output end of the second control module 2, the other end of the fifth current limiting resistor 63 is connected to the base of the fourth triode 61, the collector of the fourth triode 61 is connected to the base of the fifth triode 62 through the sixth current limiting resistor 64, and the emitter of the fourth triode 61 is grounded; the emitter of the fifth triode 62 is used for being connected with a power supply, and the collector of the fifth triode 62 is connected with the module 7 to be controlled through a seventh current limiting resistor 65.

In a specific embodiment, the fifth current limiting resistor 63 is used for limiting the base current value of the fourth triode 61 to avoid damage to the fourth triode 61 caused by an excessive base current value, the sixth current limiting resistor 64 is used for limiting the base current value of the fifth triode 62 to avoid damage to the fifth triode 62 caused by an excessive base current value, and the base of the fourth triode 61 is used for receiving the second control signal output by the second control module 2 and the second switching signal output by the second switching module 4, so that the fourth triode 61 is in a conducting or disconnecting state based on the received second control signal and the second switching signal, and further the on-off of the fifth triode 62 is controlled to realize the enabling of redundancy control.

In a specific embodiment, when the second control module 2 outputs the high level control sub-signal and the second switching module 4 outputs the high level switching sub-signal, since the fourth triode 61 is an NPN triode and the emitter is grounded, the fourth triode 61 is in a conducting state, at this time, the collector of the fourth triode 61 is pulled to a low level by the grounded emitter, the base of the fifth triode 62 is connected to the collector of the fourth triode 61 so that the base voltage of the fifth triode 62 is a low level, wherein the fifth triode 62 is a PNP triode, and the emitter of the fifth triode 62 is connected to the power supply module so that the fifth triode 62 is in a conducting state, and further, the power supply module can charge the module 7 to be controlled through the fifth triode 62.

When the second control module 2 outputs the low level control sub signal and the second switching module 4 outputs the low level switching sub signal, since the voltage value of the base electrode of the fourth triode 61 is not greater than the voltage value of the emitter electrode, the fourth triode 61 is in an off state, at this time, the collector electrode of the fourth triode 61 outputs a high level, and the base electrode of the fifth triode 62 is connected with the collector electrode of the fourth triode 61, so that the fifth triode 62 is in an off state, and the power supply module cannot charge the module 7 to be controlled through the fifth triode 62.

Further, the redundant control device further comprises a pull-down resistor 8, wherein one end of the pull-down resistor 8 is connected with the module 7 to be controlled, the other end of the pull-down resistor 8 is grounded, and the pull-down resistor 8 is used for protecting the module 7 to be controlled.

The embodiment of the application also provides a redundancy control method, wherein the redundancy control method is applied to all technical characteristics of the redundancy control device, and specifically comprises the following steps:

The first control module 1 in the redundant control device detects a first port state signal of an output port of the second control module 2 in the redundant control device and outputs the first control signal based on the first port state signal, and the second control module 2 in the redundant control device detects a second port state signal of the output port of the first control module 1 and outputs the second control signal based on the second port state signal;

The first switching module 3 in the redundancy control device is configured to output a first switching signal to the first enabling module 5 in the redundancy control device based on the second control signal, so that the first enabling module 5 controls the power supply module to charge or not charge the module to be controlled 7 based on the first control signal and the first switching signal; the second switching module 4 in the redundancy control device is configured to output a second switching signal to the second enabling module 6 in the redundancy control device based on the first control signal, so that the second enabling module 6 controls the power supply module to not charge or charge the module to be controlled 7 based on the second control signal and the second switching signal.

In an alternative embodiment, the first control module 1 is configured to generate a first control sub-signal when detecting that the first port status signal output by the output port of the second control module 2 meets a first preset condition, where the first control sub-signal is used to control the second switching module 4 to output a second switching sub-signal, and the first preset condition is that the first port status signal output by the output port of the second control module 2 is the same as the preset port status signal of the output port of the second control module 2;

The second control module 2 is configured to generate a second control sub-signal when detecting that the second port status signal output by the output port of the first control module 1 meets a second preset condition, where the second control sub-signal is used to control the first switching module 3 to output the first switching sub-signal, and the second preset condition is that the second port status signal output by the output port of the first control module 1 is the same as the preset port status signal of the output port of the first control module 1;

The first enabling module 5 controls the power supply module to charge the module to be controlled 7 based on the first control sub-signal and the first switching sub-signal, and the second enabling module 6 controls the power supply module to not charge the module to be controlled 7 based on the second control sub-signal and the second switching sub-signal.

In the embodiment of the present application, when the second control module 2 detects that the second port status signal output by the output port of the first control module 1 is the same as the preset port status signal of the output port of the first control module 1, it indicates that the first control module 1 is in a normal control state, and further, the first control module 1 can output a corresponding first control signal, so that the first control module 1 realizes the enabling control of the module to be controlled 7, and when the first control module 1 detects that the first port status signal output by the output port of the second control module 2 is the same as the preset port status signal of the output port of the second control module 2, it indicates that the second control module 2 is in a normal control state, and further, the second control module 2 can output a corresponding second control signal, so that the second control module 2 realizes the enabling control of the module to be controlled 7.

It should be noted that, if the first control module 1 and the second control module 2 are both in the normal control state, the normal control mode is entered, that is, if the first control module 1 is used as the main control and the second control module 2 is used as the backup control, the first control module 1 is used to control the first enabling module 5 to enable the module 7 to be controlled, and the second control module 2 is used to control the second enabling module 6 not to enable the module 7 to be controlled, so that only one enabling module of the first enabling module 5 and the second enabling module 6 can enable the module 7 to be controlled, thereby realizing the redundant control of the module 7 to be controlled.

In a specific embodiment, when the first control module 1 and the second control module 2 are both in the normal control state, assuming that the first control module 1 is used as the main control and the second control module 2 is used as the backup control, the first control module 1 outputs a high-level control sub-signal, the second control module 2 outputs a low-level control sub-signal, the third triode 31 in the first switching module 3 is in the off state based on the low-level control sub-signal, at this time, the collector electrode of the third triode 31 outputs a high level, and then the high-level switching sub-signal can be output to the first enabling module 5, so that the first triode 51 and the second triode 52 in the first enabling module 5 are both in the on state, so as to control the power supply module to charge the to-be-controlled module 7 through the first enabling module 5, the sixth triode 41 in the second switching module 4 is in the on state based on the high-level control sub-signal, and at this time, the grounded emitter electrode of the sixth triode 41 is pulled to be in the low level, and then the low-level switching sub-signal is output to the second enabling module 6, so that the fourth triode 61 and the fifth triode 62 in the to be in the off state cannot be charged through the fifth triode 62 in the first enabling module 5.

In an alternative embodiment, the first control module 1 is configured to generate a third control sub-signal when detecting that the first port status signal output by the output port of the second control module 2 meets a third preset condition, where the third preset condition is that the first port status signal output by the output port of the second control module 2 is different from the preset port status signal of the output port of the second control module 2, and the third control sub-signal is used to control the second switching module 4 to output the fourth switching sub-signal;

The second control module 2 is configured to generate a fourth control sub-signal when detecting that the second port status signal output by the output port of the first control module 1 meets a fourth preset condition, where the fourth control sub-signal is used to control the first switching module 3 to output a third switching sub-signal, and the fourth preset condition is that the second port status signal output by the output port of the first control module 1 is different from the preset port status signal of the output port of the first control module 1;

The first enabling module 5 controls the power supply module to charge or not charge the module to be controlled 7 based on the third control sub-signal and the third switching sub-signal, and the second enabling module 6 controls the power supply module to not charge or charge the module to be controlled 7 based on the fourth control sub-signal and the fourth switching sub-signal.

In the embodiment of the present application, when the second control module 2 detects that the second port status signal output by the output port of the first control module 1 is different from the preset port status signal of the output port of the first control module 1, it indicates that the first control module 1 is in an abnormal control state, so that the first enabling module 5 or the second enabling module 6 can be controlled by using the second control module 2 to enable the module 7 to be controlled, and when the first control module 1 detects that the first port status signal output by the output port of the second control module 2 is different from the preset port status signal of the output port of the second control module 2, it indicates that the second control module 2 is in an abnormal control state, so that the first enabling module 5 or the second enabling module 6 can be controlled by using the first control module 1 to enable the module 7 to be controlled.

In a specific embodiment, when the output port of the first control module 1 has a short circuit fault to the power supply, the output port of the second control module 2 does not have any fault, the first control module 1 outputs a high-level control sub-signal due to the short circuit to the power supply, the second control module 2 outputs a low-level control sub-signal, the third triode 31 in the first switching module 3 is in an off state based on the low-level control sub-signal, at this time, the collector of the third triode 31 outputs a high level, and thus the high-level switching sub-signal can be output to the first enabling module 5, so that the first triode 51 and the second triode 52 in the first enabling module 5 are both in an on state, so as to control the power supply module to charge the to the module 7 through the second triode 52, the sixth triode 41 in the second switching module 4 is in an on state based on the high-level control sub-signal, and at this time, the collector of the sixth triode 41 is pulled to a low level, and thus the low-level switching sub-signal is output to the second enabling module 6, so that the fourth triode 61 and the fifth triode 62 in the second enabling module 6 are both in an off state and thus unable to charge the fifth triode 62 in the fifth triode 7.

Further, when the output port of the second control module 2 has a short circuit fault to the power supply, the output port of the first control module 1 does not have any fault, the second control module 2 outputs a high level control sub-signal due to the short circuit to the power supply, the first control module 1 outputs a low level control sub-signal, the third triode 31 in the first switching module 3 is in a conducting state based on the high level control sub-signal, at this time, the collector of the third triode 31 is pulled to be low by the grounded emitter, and then the low level switching sub-signal is output to the first enabling module 5, so that the first triode 51 and the second triode 52 in the first enabling module 5 are both in a disconnected state, and then the power supply module cannot charge the module 7 through the second triode 52, the sixth triode 41 in the second switching module 4 is in a disconnected state based on the low level control sub-signal, at this time, the collector of the sixth triode 41 is output to the second enabling module 6, so that the fourth triode 61 and the fifth triode 62 in the second enabling module 6 are both in a conducting state, and the power supply module 7 is in a conducting state.

In another embodiment, when the output port of the first control module 1 has a short circuit to ground or an open circuit fault, the second control module 2 does not have any fault, the first control module 1 outputs a low-level control sub-signal due to the short circuit to ground or the open circuit fault, the second control module 2 outputs a high-level control sub-signal, the third transistor 31 in the first switching module 3 is in a conducting state based on the high-level control sub-signal, at this time, the collector of the third transistor 31 is pulled to a low level by the grounded emitter, and then outputs a low-level switching sub-signal to the first enabling module 5, so that the first transistor 51 and the second transistor 52 in the first enabling module 5 are both in an off state, and then the power supply module cannot charge the to-be-controlled module 7 through the second transistor 52, the sixth transistor 41 in the second switching module 4 is in an off state based on the low-level control sub-signal, at this time, the output of the sixth transistor 41 is high-level, and then the high-level switching sub-signal can be output to the second enabling module 6, so that the fourth transistor 61 and the fifth transistor 62 in the second enabling module 6 are both in an on state through the second transistor 7.

Further, when there is a short circuit to ground or an open circuit fault at the output port of the second control module 2, the first control module 1 outputs a low level control sub-signal due to the short circuit to ground or the open circuit fault, the first control module 1 outputs a high level control sub-signal, the third triode 31 in the first switching module 3 is in an off state based on the low level control sub-signal, at this time, the collector of the third triode 31 outputs a high level, and thus the high level switching sub-signal can be output to the first enabling module 5, so that the first triode 51 and the second triode 52 in the first enabling module 5 are both in an on state, so that the power supply module charges the module 7 to be controlled through the second triode 52, the sixth triode 41 in the second switching module 4 is in an on state based on the high level control sub-signal, and at this time, the collector of the sixth triode 41 is pulled to a low level based on the grounded emitter, and then the low level switching sub-signal is output to the second enabling module 6, so that the fourth triode 61 and the fifth triode 62 in the second enabling module 6 are both in an off state, and the fifth triode 62 in the power supply module 7 cannot be charged.

The technical scheme provided by the embodiment of the application has the following technical effects:

The structures shown in this embodiment are only partial structures related to the present application and do not constitute limitations of the apparatus to which the present application is applied, and a specific apparatus may include more or less components than those shown, or may combine some components, or may have different arrangements of components. It should be understood that the methods, apparatuses, etc. disclosed in the embodiments may be implemented in other manners.

The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. The redundancy control device is characterized by comprising a first control module (1), a second control module (2), a first switching module (3), a second switching module (4), a first enabling module (5) and a second enabling module (6);

The output end of the first control module (1) is respectively connected with the input end of the second control module (2), the input end of the second switching module (4) and the first input end of the first enabling module (5), the output end of the second switching module (4) is connected with the second input end of the second enabling module (6), and the output end of the first enabling module (5) is used for being connected with a module to be controlled (7);

The output end of the second control module (2) is respectively connected with the input end of the first control module (1), the input end of the first switching module (3) and the first input end of the second enabling module (6), the output end of the first switching module (3) is connected with the second input end of the first enabling module (5), the output end of the second enabling module (6) is connected with the module to be controlled (7), and the third input end of the first enabling module (5) and the third input end of the second enabling module (6) are both used for being connected with a power supply module;

The first control module (1) and the second control module (2) are used for mutually detecting port state signals of opposite side output ports and respectively outputting corresponding control signals based on the detected port state signals, and the first switching module (3) and the second switching module (4) are both used for outputting corresponding switching signals based on the received control signals so as to enable the first enabling module (5) and the second enabling module (6) to be in a connection state or a disconnection state based on the received control signals and the switching signals respectively.

2. The apparatus according to claim 1, characterized in that the first switching module (3) comprises a third transistor (31) and a fourth current limiting resistor (32);

One end of the fourth current limiting resistor (32) is connected with the output end of the second control module (2), the other end of the fourth current limiting resistor (32) is connected with the base electrode of the third triode (31), the collector electrode of the third triode (31) is connected with the base electrode of the first triode (51), and the emitter electrode of the third triode (31) is grounded.

3. The apparatus according to claim 1, characterized in that the first enabling module (5) comprises a first enabling unit, a second enabling unit and a third current limiting resistor (55);

The first input end of the first enabling unit is connected with the output end of the first control module (1), the second input end of the first enabling unit is connected with the output end of the first switching module (3), the output end of the first enabling unit is connected with the first input end of the second enabling unit, the second input end of the second enabling unit is used for being connected with the power supply module, and the output end of the second enabling unit is connected with the module to be controlled (7) through the third current limiting resistor (55).

4. A device according to claim 3, characterized in that the first enabling unit comprises a first transistor (51) and a first current limiting resistor (53), and the second enabling unit comprises a second transistor (52) and a second current limiting resistor (54);

One end of the first current limiting resistor (53) is connected with the output end of the first control module (1), the other end of the first current limiting resistor (53) is connected with the base electrode of the first triode (51), the collector electrode of the first triode (51) is connected with the base electrode of the second triode (52) through the second current limiting resistor (54), and the emitter electrode of the first triode (51) is grounded;

The emitter of the second triode (52) is used for being connected with a power supply, and the collector of the second triode (52) is connected with the module to be controlled (7) through the third current limiting resistor (55).

5. The apparatus according to claim 1, characterized in that the second switching module (4) comprises a sixth triode (41) and an eighth current limiting resistor (42);

One end of the eighth current limiting resistor (42) is connected with the output end of the first control module (1), the other end of the eighth current limiting resistor (42) is connected with the base electrode of the sixth triode (41), the collector electrode of the sixth triode (41) is connected with the base electrode of the fourth triode (61), and the emitter electrode of the sixth triode (41) is grounded.

6. The apparatus according to claim 1, characterized in that the second enabling module (6) comprises a third enabling unit, a fourth enabling unit and a seventh current limiting resistor (65);

The first input end of the third enabling unit is connected with the output end of the second control module (2), the second input end of the third enabling unit is connected with the output end of the second switching module (4), the output end of the third enabling unit is connected with the first input end of the fourth enabling unit, the second input end of the fourth enabling unit is used for being connected with the power supply module, and the output end of the fourth enabling unit is connected with the module to be controlled (7) through the seventh current limiting resistor (65).

7. The apparatus of claim 6, wherein the third enabling unit comprises a fourth transistor (61) and a fifth current limiting resistor (63), the fourth enabling unit comprising a fifth transistor (62) and a sixth current limiting resistor (64);

one end of the fifth current limiting resistor (63) is connected with the output end of the second control module (2), the other end of the fifth current limiting resistor (63) is connected with the base electrode of the fourth triode (61), the collector electrode of the fourth triode (61) is connected with the base electrode of the fifth triode (62) through the sixth current limiting resistor (64), and the emitter electrode of the fourth triode (61) is grounded;

The emitter of the fifth triode (62) is used for being connected with the power supply, and the collector of the fifth triode (62) is connected with the module to be controlled (7) through the seventh current limiting resistor (65).

8. A redundancy control method, characterized by being applied to the redundancy control apparatus according to any one of claims 1 to 7, comprising:

A first control module (1) in the redundant control device detects a first port state signal of an output port of a second control module (2) in the redundant control device and outputs a first control signal based on the first port state signal, and a second control module (2) in the redundant control device detects a second port state signal of the output port of the first control module (1) and outputs a second control signal based on the second port state signal;

The first switching module (3) in the redundancy control device is used for outputting a first switching signal to the first enabling module (5) in the redundancy control device based on the second control signal, so that the first enabling module (5) controls the power supply module to charge or not charge the module (7) to be controlled based on the first control signal and the first switching signal;

The second switching module (4) in the redundancy control device is used for outputting a second switching signal to the second enabling module (6) in the redundancy control device based on the first control signal, so that the second enabling module (6) controls the power supply module to not charge or charge the module to be controlled (7) based on the second control signal and the second switching signal.

9. The control method according to claim 8, wherein the first control module (1) is configured to generate a first control sub-signal when detecting that a first port status signal output by an output port of the second control module (2) meets a first preset condition, where the first control sub-signal is used to control the second switching module (4) to output a second switching sub-signal, and the first preset condition is that the first port status signal output by the output port of the second control module (2) is the same as a preset port status signal of the output port of the second control module (2);

the second control module (2) is configured to generate a second control sub-signal when detecting that a second port status signal output by the output port of the first control module (1) meets a second preset condition, where the second control sub-signal is used to control the first switching module (3) to output a first switching sub-signal, and the second preset condition is that the second port status signal output by the output port of the first control module (1) is the same as a preset port status signal of the output port of the first control module (1);

The first enabling module (5) controls the power supply module to charge the module to be controlled (7) based on the first control sub-signal and the first switching sub-signal, and the second enabling module (6) controls the power supply module to not charge the module to be controlled (7) based on the second control sub-signal and the second switching sub-signal.

10. The control method according to claim 8, wherein the first control module (1) is configured to generate a third control sub-signal when detecting that the first port status signal output by the output port of the second control module (2) meets a third preset condition, where the third control sub-signal is used to control the second switching module (4) to output a fourth switching sub-signal, and the third preset condition is that the first port status signal output by the output port of the second control module (2) is different from the preset port status signal of the output port of the second control module (2);

The second control module (2) is configured to generate a fourth control sub-signal when detecting that a second port status signal output by the output port of the first control module (1) meets a fourth preset condition, where the fourth control sub-signal is used to control the first switching module (3) to output a third switching sub-signal, and the fourth preset condition is that the second port status signal output by the output port of the first control module (1) is different from a preset port status signal of the output port of the first control module (1);

The first enabling module (5) controls the power supply module to charge or not charge the module (7) to be controlled based on the third control sub-signal and the third switching sub-signal, and the second enabling module (6) controls the power supply module to not charge or charge the module (7) to be controlled based on the fourth control sub-signal and the fourth switching sub-signal.