CN218938942U - CAN bus system based on redundancy safety - Google Patents
CAN bus system based on redundancy safety Download PDFInfo
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Abstract
The application discloses CAN bus system based on redundancy safety includes: the system comprises a star computer, a CAN bus monitoring unit, a first CAN bus, a second CAN bus and a plurality of satellite-borne peripherals, wherein the star computer is respectively connected with the first CAN bus and the second CAN bus; the plurality of satellite-borne peripherals are respectively connected with the first CAN bus and the second CAN bus; the CAN bus monitoring unit is connected with the first CAN bus and the second CAN bus respectively, and is also connected with the star computer and used for monitoring the running states of the first CAN bus and the second CAN bus and sending state information related to the running states of the first CAN bus and the second CAN bus to the star computer.
Description
Technical Field
The present application relates to CAN bus topology, and in particular, to a redundant security based CAN bus system.
Background
The CAN bus is widely applied to satellites, and the satellite computer CAN communicate with satellite-borne peripherals such as a GNSS module, an optical fiber gyroscope or a large-moment flywheel through the CAN bus.
The existing satellite, the satellite computer and the satellite-borne peripheral are connected through a single CAN bus, and if the CAN bus is abnormal, the satellite cannot be processed.
Aiming at the technical problem that the satellite computer and the satellite-borne peripheral equipment of the satellite in the prior art are connected through a single CAN bus, and cannot work once the CAN bus is abnormal, no effective solution is proposed at present.
Disclosure of Invention
The utility model provides a CAN bus system based on redundancy safety, which at least solves the technical problem that a satellite computer and a satellite-borne peripheral device of a satellite in the prior art are connected through a single CAN bus, and cannot work once the CAN bus is abnormal.
According to one aspect of the present application, there is provided a redundancy safety-based CAN bus system comprising: the system comprises a star computer, a CAN bus monitoring unit, a first CAN bus, a second CAN bus and a plurality of satellite-borne peripherals; the star computer is respectively connected with the first CAN bus and the second CAN bus; the plurality of satellite-borne peripherals are respectively connected with the first CAN bus and the second CAN bus; the CAN bus monitoring unit is connected with the first CAN bus and the second CAN bus respectively, and is also connected with the star computer and used for monitoring the running states of the first CAN bus and the second CAN bus and sending state information related to the running states of the first CAN bus and the second CAN bus to the star computer.
Optionally, the CAN bus monitoring unit includes: the first monitoring module, the second monitoring module, the first CAN bus interface and the second CAN bus interface; the first monitoring module is connected with the first CAN bus through a first CAN bus interface; the second monitoring module is connected with a second CAN bus through a second CAN bus interface.
Optionally, the CAN bus monitoring unit is connected with the plurality of satellite-borne peripherals through a first CAN bus and a second CAN bus, and the CAN bus monitoring unit is used for notifying the plurality of satellite-borne peripherals of the abnormal CAN bus in the first CAN bus and the second CAN bus.
Optionally, the CAN bus monitoring unit further includes: a controller and a communication interface; the controller is respectively connected with the first monitoring module and the second monitoring module and is used for receiving the running state information of the first CAN bus and the second CAN bus; the controller sends the running state information of the first CAN bus and the running state information of the second CAN bus to a plurality of satellite-borne peripherals through the communication interface.
Optionally, the controller further sends the running state information of the first CAN bus and the running state information of the second CAN bus to the star computer through the communication interface.
Optionally, the first CAN bus includes a first can_h line and a first can_l line; the second CAN bus comprises a second CAN_H line and a second CAN_L line; the first monitoring module is used for monitoring the voltage of the first CAN_H line and the voltage of the first CAN_L line; if the voltage of the first CAN_H line is lower than the first reference voltage or the voltage of the first CAN_L line is higher than the second reference voltage, judging that the first CAN bus is abnormal; the second monitoring module is used for monitoring the voltage of the second CAN_H line and the voltage of the second CAN_L line; if the voltage of the second CAN_H line is lower than the third reference voltage or the voltage of the second CAN_L line is higher than the fourth reference voltage, judging that the second CAN bus is abnormal.
Optionally, the first monitoring module includes a first reference voltage circuit, a first comparison circuit, and a second comparison circuit; the reference voltage circuit is sequentially connected with a power supply end Vc, a resistor R1, a resistor R2, a resistor R3 and a grounding end in series; the first comparison circuit is connected between the resistor R1 and the resistor R2 and is used for receiving a first reference voltage; the second comparison circuit is arranged between the resistor R2 and the resistor R3 and is used for receiving a second reference voltage; the first comparison circuit is used for comparing the voltage of the first CAN_H line with a first reference voltage: if the voltage of the first CAN_H line is higher than the first reference voltage, the first comparison circuit outputs a high level; otherwise, the first comparison circuit outputs a low level; the second comparison circuit is used for comparing the voltage of the first CAN_L line with a second reference voltage: if the voltage of the first CAN_L line is lower than the second reference voltage, the second comparison circuit outputs a high level; otherwise, the second comparison circuit outputs a low level.
Optionally, the alarm circuit is connected with the output end of the first comparison circuit and the output end of the second comparison circuit respectively; the alarm circuit is used for judging whether the output result of the first comparison circuit or the second comparison circuit is of a low level or not, and if yes, the alarm is carried out.
Compared with the existing method of only setting a single CAN bus, the method CAN increase redundancy backup by setting the first CAN bus and the second CAN bus, thereby preventing the phenomenon that the satellite-borne peripheral device cannot work normally after the CAN bus is abnormal. And because the CAN bus monitoring unit for monitoring the running state information of the first CAN bus and the second CAN bus is arranged between the star computer and the first CAN bus and between the star computer and the second CAN bus, once the first CAN bus or the second CAN bus is abnormal, the CAN bus monitoring unit CAN detect the abnormal state information of the first CAN bus or the second CAN bus and send the abnormal state information to the star computer connected with the star computer. Thereby enabling the star computer to switch between the first CAN bus and the second CAN bus. Therefore, the first CAN bus and the second CAN bus are monitored by the CAN bus monitoring unit, so that the technical effect of ensuring normal operation of at least one CAN bus and further ensuring normal operation of a plurality of satellite-borne peripheral devices is achieved. The technical problem that in the prior art, a satellite computer of a satellite and a satellite-borne peripheral device are connected through a single CAN bus, and cannot work once the CAN bus is abnormal is solved.
The above, as well as additional objectives, advantages, and features of the present utility model will become apparent to those skilled in the art from the following detailed description of a specific embodiment of the present utility model when read in conjunction with the accompanying drawings.
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Some specific embodiments of the present application will be described in detail hereinafter by way of example and not by way of limitation with reference to the accompanying drawings. The same reference numbers will be used throughout the drawings to refer to the same or like parts or portions. It will be appreciated by those skilled in the art that the drawings are not necessarily drawn to scale. In the accompanying drawings:
FIG. 1 is a schematic diagram of a CAN bus system connection structure for a satellite according to one embodiment of the application;
FIG. 2 is a schematic diagram of a connection structure of a CAN bus monitoring unit according to one embodiment of the application; and
fig. 3 is a schematic diagram of a connection structure of the first monitoring module or the second monitoring module according to an embodiment of the present application.
Detailed Description
It should be noted that, without conflict, the embodiments of the present utility model and features of the embodiments may be combined with each other. The utility model will be described in detail below with reference to the drawings in connection with embodiments.
In order that those skilled in the art will better understand the present utility model, a technical solution in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present utility model, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present utility model without making any inventive effort, shall fall within the scope of the present utility model.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present utility model 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 terms so used are interchangeable under appropriate circumstances such that the embodiments of the utility model described herein are, for example, capable of operation in other environments. 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 apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
Fig. 1 is a schematic diagram of a CAN bus system connection structure for a satellite according to one embodiment of the present application. Referring to fig. 1, a redundancy security-based CAN bus system includes: the system comprises a star computer, a CAN bus monitoring unit, a first CAN bus, a second CAN bus and a plurality of satellite-borne peripherals, wherein the star computer is respectively connected with the first CAN bus and the second CAN bus; the plurality of satellite-borne peripherals are respectively connected with the first CAN bus and the second CAN bus; the CAN bus monitoring unit is respectively connected with the first CAN bus and the second CAN bus; the CAN bus monitoring unit is also connected with the star computer and used for monitoring the running states of the first CAN bus and the second CAN bus and sending state information related to the running states of the first CAN bus and the second CAN bus to the star computer.
As described in the background art, the CAN bus is widely applied to satellites, and the satellite computer CAN communicate with satellite-borne peripherals such as a GNSS module, an optical fiber gyroscope or a large moment flywheel through the CAN bus. The existing satellite, the satellite computer and the satellite-borne peripheral are connected through a single CAN bus, and if the CAN bus is abnormal, the satellite cannot be processed. Aiming at the technical problem that the satellite computer and the satellite-borne peripheral equipment of the satellite in the prior art are connected through a single CAN bus, and cannot work once the CAN bus is abnormal, no effective solution is proposed at present.
In view of this, the present application proposes a CAN bus system for satellites. The system mainly comprises a star computer, a CAN bus monitoring unit, a first CAN bus (i.e. CAN bus 1), a second CAN bus (i.e. CAN bus 2) and a plurality of satellite-borne peripherals. The star computer is connected with the first CAN bus and the second CAN bus respectively. At least one satellite-borne peripheral is respectively connected with the first CAN bus and the second CAN bus. In addition, the CAN bus monitoring unit CAN monitor the operation states of the first CAN bus and the second CAN bus and transmit the operation state information of the first CAN bus and the second CAN bus to a star computer connected thereto. The star computer switches the first CAN bus and the second CAN bus according to the running state information corresponding to the first CAN bus and the running state information corresponding to the second CAN bus sent by the CAN bus monitoring unit. The plurality of satellite-borne peripherals can be working units for realizing satellite-borne peripheral functions, such as GNSS modules, optical fiber gyroscopes or large-moment flywheels.
As shown in fig. 1, the plurality of satellite-borne peripherals interact with the satellite computer through a first CAN bus and a second CAN bus. For example, the first CAN bus is a common bus, and the second CAN bus is a standby bus. When the CAN bus monitoring unit monitors that the first CAN bus running state information is abnormal, the running state information is sent to the star computer. And after receiving the running state information corresponding to the first CAN bus, the star computer switches the first CAN bus in use into a standby second CAN bus. And the star computer switches the first CAN bus which is being used by the plurality of satellite peripherals into a standby second CAN bus. Therefore, the CAN bus system provides stable and safe CAN bus communication between the satellite computer and the satellite-borne peripheral equipment based on a redundant design mode, and avoids the problem that the whole CAN bus system cannot work due to the abnormality of one CAN bus.
Compared with the existing method of only setting a single CAN bus, the method CAN increase redundancy backup by setting the first CAN bus and the second CAN bus, thereby preventing the phenomenon that the satellite-borne peripheral cannot work normally after the CAN bus is abnormal. And because the CAN bus monitoring unit for monitoring the running state information of the first CAN bus and the second CAN bus is arranged between the star computer and the first CAN bus and between the star computer and the second CAN bus, once the first CAN bus or the second CAN bus is abnormal, the CAN bus monitoring unit CAN detect the abnormal state information of the first CAN bus or the second CAN bus and send the abnormal state information to the star computer or a plurality of star peripherals connected with the star computer or the plurality of star peripherals. Therefore, the first CAN bus and the second CAN bus are monitored by the CAN bus monitoring unit, so that the technical effect of ensuring normal operation of at least one CAN bus and further ensuring normal operation of a plurality of satellite-borne peripheral devices is achieved. The technical problem that in the prior art, a satellite computer of a satellite and a satellite-borne peripheral device are connected through a single CAN bus, and cannot work once the CAN bus is abnormal is solved.
Optionally, the CAN bus monitoring unit includes: the system comprises a first monitoring module, a second monitoring module, a first CAN bus interface and a second CAN bus interface, wherein the first monitoring module is connected with a first CAN bus through the first CAN bus interface; and the second monitoring module is connected with a second CAN bus through a second CAN bus interface.
Specifically, fig. 2 is a schematic diagram of a connection structure of a CAN bus monitoring unit according to an embodiment of the present application. Referring to fig. 2, the CAN bus monitoring unit includes a first monitoring module (i.e., CAN bus monitoring module 1), a second monitoring module (i.e., CAN bus monitoring module 2), a first CAN bus interface (i.e., CAN bus interface 1) connected with the first monitoring module, and a second CAN bus interface (i.e., CAN bus interface 2) connected with the second monitoring module.
For example, the first monitoring module monitors the operation state of the first CAN bus through the first CAN bus interface and generates operation state information corresponding to the first CAN bus; the second monitoring module monitors the running state of the second CAN bus through the second CAN bus interface and generates running state information corresponding to the second CAN bus. Then, the first monitoring module transmits running state information corresponding to the first CAN bus to a star computer connected with the first monitoring module; and the second monitoring module transmits the running state information corresponding to the second CAN bus to the star computer connected with the second monitoring module.
Therefore, the technical effect that the states of the first CAN bus and the second CAN bus CAN be monitored is achieved through the product structure.
Optionally, the CAN bus monitoring unit is connected with the plurality of satellite-borne peripherals through a first CAN bus and a second CAN bus, and the CAN bus monitoring unit is used for notifying the plurality of satellite-borne peripherals of the abnormal CAN bus in the first CAN bus and the second CAN bus.
Specifically, referring to fig. 1 or 2, for example, when the operation state information of the first CAN bus is abnormal, the CAN bus monitoring unit CAN monitor the abnormal information of the first CAN bus and transmit the abnormal information to the plurality of on-board peripherals. Therefore, after the plurality of satellite-borne peripherals receive the information of abnormal running state of the first CAN bus, preparation is made for switching the first CAN bus in use into the second CAN bus.
For another example, when the operation state information of the second CAN bus is abnormal, the CAN bus monitoring unit CAN monitor the abnormal information of the second CAN bus and send the abnormal information to a plurality of on-board peripherals. Therefore, after the plurality of satellite-borne peripherals receive the information of abnormal running state of the second CAN bus, preparation is made for switching the second CAN bus in use into the first CAN bus.
Optionally, the CAN bus monitoring unit further includes: the controller is connected with the first monitoring module and the second monitoring module respectively and is used for receiving the running state information of the first CAN bus and the second CAN bus; and the controller sends the running state information of the first CAN bus and the running state information of the second CAN bus to a plurality of satellite-borne peripherals through the communication interface.
Specifically, referring to fig. 2, the CAN bus monitoring unit further includes: a controller and a communication interface.
For example, the first monitoring module monitors the operation state information of the first CAN bus and transmits the operation state information to a controller connected thereto. The controller determines whether the operation state information of the first CAN bus is abnormal. If the controller judges that the running state information of the first CAN bus is abnormal, the abnormal information is sent to a plurality of satellite-borne peripherals connected with the controller through a communication interface. Thus, the plurality of on-board peripherals are prepared for switching the first CAN bus being used to the second CAN bus after receiving the abnormality information.
Optionally, the controller further sends the running state information of the first CAN bus and the running state information of the second CAN bus to the star computer through the communication interface.
Specifically, referring to fig. 2, the first monitoring module monitors the operation state information of the first CAN bus and transmits the operation state information to a controller connected thereto. The controller determines whether the operation state information of the first CAN bus is abnormal. If the controller judges that the running state information of the first CAN bus is abnormal, the abnormal information is sent to a star computer connected with the controller through a communication interface. Therefore, the star computer CAN timely switch the first CAN bus with the abnormality into the second CAN bus.
Likewise, the second monitoring module monitors the operating state information of the second CAN bus and transmits the operating state information to a controller connected thereto. The controller determines whether the operation state information of the second CAN bus is abnormal. If the controller judges that the running state information of the second CAN bus is abnormal, the abnormal information is sent to a star computer connected with the controller through a communication interface. Therefore, the star computer CAN timely switch the abnormal second CAN bus to the first CAN bus.
Optionally, the first CAN bus includes a first can_h line and a first can_l line, the second CAN bus includes a second can_h line and a second can_l line, and the first monitoring module is configured to monitor a voltage of the first can_h line and a voltage of the first can_l line; if the voltage of the first CAN_H line is lower than the first reference voltage or the voltage of the first CAN_L line is higher than the second reference voltage, judging that the first CAN bus is abnormal; the second monitoring module is used for monitoring the voltage of the second CAN_H line and the voltage of the second CAN_L line; and if the voltage of the second CAN_H line is lower than the third reference voltage or the voltage of the second CAN_L line is higher than the fourth reference voltage, judging that the second CAN bus is abnormal.
Specifically, fig. 3 is a schematic diagram of a connection structure of the first monitoring module or the second monitoring module according to one embodiment of the present application. Referring to fig. 3, the first CAN bus includes a first can_h line (i.e., can_h line) and a first can_l line (i.e., can_l line), and the second CAN bus includes a second can_h line (i.e., can_h line) and a second can_l line (i.e., can_l line). When the first CAN bus works normally, the voltage of the first CAN_H line or the second CAN_H line in the recessive state is 2.5V, and the voltage of the first CAN_L line or the second CAN_L line in the recessive state is 2.5V; the voltage in the dominant state of the first can_h line or the second can_h line is 2.5V, and the voltage in the dominant state of the first can_l line or the second can_l line is also 1.5V.
That is, when the first CAN bus or the second CAN bus is operating normally, the voltage of the first can_h line or the second can_h line is greater than the first reference voltage (e.g., 3V); the voltage of the first can_l line or the second can_l line is less than a second reference voltage (e.g., 2V). The first reference voltage and the second reference voltage may be voltages provided by a reference voltage circuit in the CAN bus monitoring unit. In addition, the first monitoring module is used for monitoring the voltage of the first CAN_H line and the voltage of the first CAN_L line. If the voltage of the first CAN_H line is lower than the first reference voltage or the voltage of the first CAN_L line is lower than the second reference voltage, judging that the first CAN bus is abnormal; otherwise, the first CAN bus is judged to be normal. The second monitoring module is used for monitoring the voltage of the second CAN_H line and the voltage of the second CAN_L line. If the voltage of the second CAN_H line is lower than the third reference voltage or the voltage of the second CAN_L line is lower than the fourth reference voltage, judging that the second CAN bus is abnormal; otherwise, the second CAN bus is judged to be normal.
Optionally, the first monitoring module includes a first reference voltage circuit, a first comparison circuit, and a second comparison circuit; the reference voltage circuit is sequentially connected with a power supply end Vc, a resistor R1, a resistor R2, a resistor R3 and a grounding end in series; the first comparison circuit is connected between the resistor R1 and the resistor R2 and is used for receiving a first reference voltage; the second comparison circuit is arranged between the resistor R2 and the resistor R3 and is used for receiving a second reference voltage; the first comparison circuit is used for comparing the voltage of the first CAN_H line with a first reference voltage: if the voltage of the first CAN_H line is higher than the first reference voltage, the first comparison circuit outputs a high level; otherwise, the first comparison circuit outputs a low level; the second comparison circuit is used for comparing the voltage of the first CAN_L line with a second reference voltage: if the voltage of the first CAN_L line is lower than the second reference voltage, the second comparison circuit outputs a high level; otherwise, the second comparison circuit outputs a low level.
Specifically, the first monitoring module includes a first reference voltage circuit, a first comparison circuit, and a second comparison circuit. The reference voltage circuit is sequentially connected with a power supply end Vc, a resistor R1, a resistor R2, a resistor R3 and a grounding end in series.
The first comparison circuit is connected between the resistor R1 and the resistor R2 and is used for receiving a first reference voltage; the second comparison circuit is between the resistor R2 and the resistor R3 for receiving a second reference voltage.
Thus, the first comparison circuit CAN compare the voltage of the first can_h line or the voltage of the second can_h line with the first reference voltage. If the voltage of the first CAN_H line or the voltage of the second CAN_H line is larger than the first reference voltage, the first comparison circuit outputs a high level. Conversely, the first comparison circuit outputs a low level.
The second comparison circuit CAN compare the voltage of the first can_l line or the voltage of the second can_l line with a second reference voltage. If the voltage of the first CAN_L line or the voltage of the second CAN_L line is smaller than the second reference voltage, the second comparison circuit outputs a high level. And conversely, the second comparison circuit outputs a low level.
Optionally, the alarm circuit is connected with the output end of the first comparison circuit and the output end of the second comparison circuit respectively; the alarm circuit is used for judging whether the output result of the first comparison circuit or the second comparison circuit is of a low level or not, and if yes, the alarm is carried out.
Specifically, referring to fig. 3, the first comparison circuit includes an operational amplifier U1, resistors R4 and R5, and diodes D1 and D2; wherein, the resistor R4 is 51kΩ and the resistor R5 is 10kΩ.
The second comparison circuit includes an operational amplifier U2, resistors R6 and R7, and diodes D1 and D2. Wherein, the resistor R6 is 51kΩ and the resistor R7 is 10kΩ.
The alarm circuit comprises a resistor R8, a resistor R9, a resistor R10, a diode D3, a diode D4 and a switch Q1. Wherein R8 is 10kΩ, R9 is 2kΩ, and R10 is 100deg.KΩ.
When the first CAN bus is operating normally (i.e., when the first can_h line and the first can_l line are operating normally), the nodes N3 and N4 are high, so that the diodes D2 and D6 are turned off. The node N5 is at a high level, so that the diode D3 is conducted, the switch Q1 is conducted, and the alarm circuit outputs a low-level signal to show that the operation is normal.
When the first CAN bus is normal abnormal (i.e., when the first can_h line and the first can_l line are abnormal in operation), the nodes N3 and N4 are low level, so that the diodes D2 and D6 are turned on. The node N5 is low so that the diode D3 is turned off, the switch Q1 is turned off, and the alarm circuit outputs a high level signal to indicate an abnormal operation.
Based on the same principle, the second monitoring module monitors the voltage of the second can_h line and the voltage of the second can_l line in the same manner as the first monitoring module, so as to monitor the operation of the second CAN bus, which is not described herein.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present utility model unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the authorization specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In the description of the present utility model, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present utility model and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present utility model; the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.
The foregoing is merely a preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the technical scope of the present application should be covered by 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 (8)
1. A redundant security based CAN bus system comprising:
the system comprises a star computer, a CAN bus monitoring unit, a first CAN bus, a second CAN bus and a plurality of satellite-borne peripherals, wherein
The star computer is respectively connected with the first CAN bus and the second CAN bus;
the plurality of satellite-borne peripherals are respectively connected with the first CAN bus and the second CAN bus; and
the CAN bus monitoring unit is respectively connected with the first CAN bus and the second CAN bus, is also connected with the star computer, and is used for monitoring the running states of the first CAN bus and the second CAN bus and sending state information related to the running states of the first CAN bus and the second CAN bus to the star computer.
2. The redundancy-based CAN-bus system of claim 1, wherein the CAN-bus monitoring unit comprises: a first monitoring module, a second monitoring module, a first CAN bus interface and a second CAN bus interface, wherein
The first monitoring module is connected with the first CAN bus through the first CAN bus interface; and
the second monitoring module is connected with the second CAN bus through the second CAN bus interface.
3. The redundancy-based safety CAN bus system of claim 2, wherein the CAN bus monitoring unit is connected to the plurality of on-board peripherals through the first CAN bus and the second CAN bus, and the CAN bus monitoring unit is configured to notify the plurality of on-board peripherals of an abnormal CAN bus among the first CAN bus and the second CAN bus.
4. The redundancy-based CAN-bus system of claim 3, wherein the CAN-bus monitoring unit further comprises: controller and communication interface, wherein
The controller is respectively connected with the first monitoring module and the second monitoring module and is used for receiving the running state information of the first CAN bus and the second CAN bus; and
and the controller sends the running state information of the first CAN bus and the running state information of the second CAN bus to the plurality of satellite-borne peripherals through the communication interface.
5. The redundancy-based safety CAN bus system of claim 4, wherein the controller further transmits the operational status information of the first CAN bus and the operational status information of the second CAN bus to the star computer via the communication interface.
6. The redundancy-based safety-based CAN-bus system of claim 4 or 5, wherein the first CAN-bus comprises a first CAN-H line and a first CAN-L line, and the second CAN-bus comprises a second CAN-H line and a second CAN-L line, wherein
The first monitoring module is used for monitoring the voltage of the first CAN_H line and the voltage of the first CAN_L line;
if the voltage of the first CAN_H line is lower than a first reference voltage or the voltage of the first CAN_L line is higher than a second reference voltage, judging that the first CAN bus is abnormal;
the second monitoring module is used for monitoring the voltage of the second CAN_H line and the voltage of the second CAN_L line; and
and if the voltage of the second CAN_H line is lower than a third reference voltage or the voltage of the second CAN_L line is higher than a fourth reference voltage, judging that the second CAN bus is abnormal.
7. The redundancy-based CAN bus system of claim 6, wherein the first monitor module comprises a first reference voltage circuit, a first comparison circuit, and a second comparison circuit, wherein
The reference voltage circuit is sequentially connected with a power supply end Vc, a resistor R1, a resistor R2, a resistor R3 and a grounding end in series;
the first comparison circuit is connected between the resistor R1 and the resistor R2 and is used for receiving the first reference voltage; the second comparison circuit is arranged between the resistor R2 and the resistor R3 and is used for receiving the second reference voltage;
the first comparison circuit is configured to compare a voltage of the first can_h line with the first reference voltage: if the voltage of the first CAN_H line is higher than the first reference voltage, the first comparison circuit outputs a high level; otherwise, the first comparison circuit outputs a low level;
the second comparison circuit is configured to compare the voltage of the first can_l line with the second reference voltage: if the voltage of the first CAN_L line is lower than the second reference voltage, the second comparison circuit outputs a high level; otherwise, the second comparison circuit outputs a low level.
8. The redundancy-based CAN bus system of claim 7, further comprising: alarm circuit, wherein
The alarm circuit is respectively connected with the output end of the first comparison circuit and the output end of the second comparison circuit;
the alarm circuit is used for judging whether the output result of the first comparison circuit or the second comparison circuit is of a low level or not, and if yes, the alarm is carried out.
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