CN207557715U - A kind of controller suitable for Complex spatial framework - Google Patents
A kind of controller suitable for Complex spatial framework Download PDFInfo
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- CN207557715U CN207557715U CN201721521744.3U CN201721521744U CN207557715U CN 207557715 U CN207557715 U CN 207557715U CN 201721521744 U CN201721521744 U CN 201721521744U CN 207557715 U CN207557715 U CN 207557715U
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Abstract
The utility model discloses a kind of controllers suitable for Complex spatial framework, and lower transmission module and two control signal output modules are adopted including three signal isolation modules, three CPU modules, two telemetering wheels.Three signal isolation modules export for receiving external input signal after being isolated；Three CPU modules are used to select one of them normal CPU module jointly as airliner is worked as according to three arbitration voting algorithms, and result is exported by working as after airliner is run by set sequential and algorithm；Two telemetering wheels adopt lower transmission module and flow down biography for three machine operation datas to be carried out wheel；Two control signal output modules are used to that control output will to be carried out to driver when airliner result.The controller of the utility model is suitable for the space mechanism of algorithm and driving complexity, can be in the case where occupying a small amount of hardware resource, and guarantee Complex spatial framework is steady, continuous operation.
Description
Technical field
The utility model is related to aerospace craft more particularly to a kind of controllers suitable for Complex spatial framework.
Background technology
The failures such as the malfunction of Complex spatial framework controller emerged in operation, emergency stop, may result in the machine of space mechanism
Tool damages or even can cause the catastrophic effects such as whole device mission failure.
And in space, central processing unit (such as DSP), program storage (ROM) and data in controller CPU module
Memory (RAM) etc. is particularly susceptible to the influence of complicated space environment, occur ionization total-dose, displacement damage effect and
Single particle effect etc. leads to component failure, and controller is caused to break down.
At present, domestic space mechanism's system employs the control of three machine fault-tolerant modes to realize that controller is steady, continuous operation
Device processed.Its principle is：All results of three moulds are sent into four modules and carry out arbitration voting, most by three CPU module Hot Spare operations
Tetra- tunnels of Hou Jiang arbitration voted data is respectively fed to carry out control output by the OC gate output circuits that 4 metal-oxide-semiconductor connection in series-parallel form.Three
The controller of machine fault-tolerant mode can tolerate one or two failure in three CPU modules, avoid with faulty system
Occur to interrupt and perform.But due to its use output terminal to all signals carry out arbitration voting fault tolerant mechanism, system is caused to exist
Great amount of hardware resources need to be occupied by just being determined in design principle, and its output is only that level amount signal is difficult to realize parameter value as mould
The control signal of analog quantity variation.The controller of three machine fault-tolerant modes is determined from principle is difficult to realize algorithm and driving is complicated
The reliable control of space mechanism, such as space manipulator, the control of the large-scale solar cell wing.
Utility model content
In view of the above-mentioned problems of the prior art, the utility model provides a kind of control suitable for Complex spatial framework
Device.
In order to achieve the above object, the technical solution adopted in the utility model is：
A kind of controller suitable for Complex spatial framework, including three signal isolation modules, three CPU modules, two
Telemetering wheel adopts lower transmission module and two control signal output modules；
Three signal isolation modules receive external input signal, are exported after being isolated；
Three CPU modules are connect respectively with three signal isolation modules, after receiving three signal isolation module isolation respectively
Three road signals, and one of them normal CPU module is selected jointly as work as airliner according to three arbitration voting algorithms, by ought
Airliner exports result after being run by set sequential and algorithm；
Two telemetering wheels are adopted lower transmission module and are connect respectively with three CPU modules, for three machine operation datas to be carried out in turn
Under pass；
Two control signal output modules connect respectively with three CPU modules, for will work as airliner result to driver into
Row control output.
A kind of improvement of controller suitable for Complex spatial framework as the utility model, controller further includes several
Filtering shaping circuit module is connect respectively with three signal isolation modules, for the acquisition signal of external sensor is filtered
It is exported respectively after wave, shaping to three signal isolation modules.
Compared with prior art, the advantageous effects of the utility model are：
The controller of the utility model is suitable for algorithm and space mechanism's controller of driving complexity, can occupy on a small quantity
In the case of hardware resource, guarantee Complex spatial framework is steady, continuous operation.
Description of the drawings
Fig. 1 is a kind of controller principle figure suitable for Complex spatial framework of one embodiment of the utility model；
Fig. 2 is a kind of controller information flow graph suitable for Complex spatial framework of one embodiment of the utility model.
Specific embodiment
It is new to this practicality below in conjunction with attached drawing to make the purpose of this utility model, technical solution and advantage clearer
Each embodiment of type is explained in detail.
Referring to Fig. 1, the controller of the present embodiment include isolation circuit A, isolation circuit B, isolation circuit C, CPU module A,
CPU module B, CPU module C, three mould wheels pass channel a, three mould wheels pass channel b, control signal output channels a, control signal export
Channel b.
The CPU module A, CPU module B, CPU module C respectively with the isolation circuit A, isolation circuit B, isolation circuit C
Connection receives isolation circuit A, isolation circuit B, isolation circuit C isolation tri- road signals of Hou, by CPU module A, CPU respectively
Three arbitration voting algorithm co-determinations of module B, CPU module C are selected from the CPU module A, CPU module B, CPU module C
The module of normal work, which is used as, works as airliner, and exports result by working as after airliner is run by set sequential and algorithm；
The three moulds wheel passes channel a, three mould wheels pass channel b and connect respectively with the CPU module A, CPU module B, CPU module C
It connects, and three machine operation data polarity wheels is flowed down into biography；
The control signal output channels a, control signal output channels b respectively with the CPU module A, CPU module B,
CPU module C connections, and control output will be carried out to driver when airliner result, referring to Fig. 2.
In another embodiment of the utility model, controller further includes several filtering shaping circuit modules, respectively with
Isolation circuit A, isolation circuit B are connected with isolation circuit C, and several filtering shaping circuit modules are used for the acquisition of external sensor
Signal is filtered, is exported respectively after shaping to isolation circuit A, isolation circuit B and isolation circuit C.
The controller of the utility model, thirdly road CPU module unit, multichannel arbitration voting output unit and output interface etc.
Hot Redundancy Design is carried out, system is without single point failure link.When a certain module failure, system being capable of automatic identification faulty component
And in user data acquisition, steadily switch to normal module in period for handling and exporting and perform, complete machine sequential working continuity
Preferably.Even if when two modules break down simultaneously, system can also switch seamlessly to normal module and perform, and be downgraded to unit Working mould
Formula.
The controller of the utility model can ensure that Complex spatial framework is put down in the case where occupying a small amount of hardware resource
Surely, continuous operation, suitable for space mechanism's controller that algorithm and driving are complicated.
The preferable specific embodiment of the above, only the utility model, but the scope of protection of the utility model is not
This is confined to, in the technical scope that any one skilled in the art discloses in the utility model, can be readily occurred in
Change or replacement, should be covered within the scope of the utility model.Therefore, the scope of protection of the utility model should
It is subject to the protection scope in claims.
Claims (2)
1. a kind of controller suitable for Complex spatial framework, which is characterized in that including three signal isolation modules, three CPU
Module, two telemetering wheels adopt lower transmission module and two control signal output modules；
Three signal isolation modules receive external input signal, are exported after being isolated；
Three CPU modules are connect respectively with three signal isolation modules, receive three after three signal isolation module isolation respectively
Road signal, and one of them normal CPU module is selected jointly as airliner is worked as according to three arbitration voting algorithms, by working as airliner
Result is exported after being run by set sequential and algorithm；
Two telemetering wheels are adopted lower transmission module and are connect respectively with three CPU modules, and biography is flowed down for three machine operation datas to be carried out wheel；
Two control signal output modules are connect respectively with three CPU modules, are controlled for that will work as airliner result to driver
System output.
2. a kind of controller suitable for Complex spatial framework according to claim 1, which is characterized in that including several filters
Wave shaping circuit module is connect respectively with three signal isolation modules, for by the acquisition signal of external sensor it is filtered,
It is exported respectively after shaping to three signal isolation modules.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721521744.3U CN207557715U (en) | 2017-11-15 | 2017-11-15 | A kind of controller suitable for Complex spatial framework |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721521744.3U CN207557715U (en) | 2017-11-15 | 2017-11-15 | A kind of controller suitable for Complex spatial framework |
Publications (1)
| Publication Number | Publication Date |
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| CN207557715U true CN207557715U (en) | 2018-06-29 |
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| CN201721521744.3U Active CN207557715U (en) | 2017-11-15 | 2017-11-15 | A kind of controller suitable for Complex spatial framework |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109739693A (en) * | 2018-12-13 | 2019-05-10 | 上海航天控制技术研究所 | Cargo ship docking mechanism arbitrates voting system and its means of voting |
| CN112578686A (en) * | 2020-12-10 | 2021-03-30 | 上海宇航系统工程研究所 | Ground simulation equipment for electrical performance of time sequence motion space mechanism |
-
2017
- 2017-11-15 CN CN201721521744.3U patent/CN207557715U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109739693A (en) * | 2018-12-13 | 2019-05-10 | 上海航天控制技术研究所 | Cargo ship docking mechanism arbitrates voting system and its means of voting |
| CN109739693B (en) * | 2018-12-13 | 2022-06-24 | 上海航天控制技术研究所 | Arbitration voting system and voting method for docking mechanism of cargo ship |
| CN112578686A (en) * | 2020-12-10 | 2021-03-30 | 上海宇航系统工程研究所 | Ground simulation equipment for electrical performance of time sequence motion space mechanism |
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