RU2006955C1 - System for remote control of controlled object - Google Patents

Abstract

FIELD: remote control devices. SUBSTANCE: signal from one of N receivers 3 at first or second controlled object 1 or 2 effects objects final-control devices 10 through first multichannel commutator 4 and decoder 5. Signal of set-point 16 is transmitted to another controlled object through encoder 14, second multichannel commutator 8 and one of N transmitters 9. When receiver faults or radio link is noisy, AND gate 20, first delay gate 11 and second delay gate 16 perform lock of output signals of decoding circuit 19 and switch first controlled oscillator 12 and first pulse counter 13 on. This pulse counter connects operating receiver through commutator 4 and generates signal about fault. Signal for lock of output signals switches second controlled oscillator 6 and second pulse counter 7 which connects operating transmitter through second commutator 8. EFFECT: increased field of application, improved fault detection and increased reliability. 1 dwg

Description

 The invention relates to techniques for object management, in particular to a radio control technique.

 A known remote control system containing at each object a receiver, a decoder, controls, a master device, an encoder and a transmitter.

 The disadvantage of this system is that for any failure of the receiver or transmitter (it is they who determine the reliability of the control system as the most complex elements) at one of the objects, the control system fails due to its non-fulfillment of its functions, i.e., this system as a whole possesses low reliability.

 Closest to the proposed remote control system is a system containing at each control object a series of N (N = 2, 3, 4...) Concurrently connected at the input of receivers, a first multi-channel switch, a decoder and controls, and a series-connected master a device, an encoder, a second multichannel switch, and a group of N transmitters connected in parallel at the output, while the decoder contains an input register and a decoding element connected in series.

 The disadvantage of this system is that the failure of one of the N receivers or transmitters selected to implement the specified operating mode at any of the objects leads to a violation of the operating mode of the control system, i.e., to its failure. In other words, the known system is made by the method of "cold" redundancy with switching the reserve from an external device (radio system) after the fact of failure of the receiver or transmitter is detected. Failure detection is time-consuming, and this leads to a violation of the specified operating mode of the control system, i.e., the system has low reliability. In addition, a malfunction signal is not generated in the system, which can be used to switch to another operating mode.

 The purpose of the invention is the expansion of the functionality of the system by detecting malfunctions and increasing the reliability of the implementation of the control mode.

The goal is achieved by the fact that in the remote control system of objects containing at each object a group of N (N = 2, 3, 4...) Concurrently connected at the input of the receivers, the first multichannel switch, a decoder and controls, and a series-connected master a device, an encoder, a second multi-channel switch, and a group of N transmitters parallel connected at the output, the decoder comprising input register and decoding element connected in series, introduced in series connected to the first element delay off, the first controlled oscillator and the first pulse counter, as well as the second delay element and connected in series to the second controlled generator and the second pulse counter, while the output of the first delay element is connected to the input lock output of the decoder, the input of the second delay element and the first additional input of the encoder, the second additional input of which is connected to the output of the second delay element, the additional input of the controls and the bus faults, the outputs of the first and second pulse counters are connected to the corresponding inputs of the first and second multichannel switches, respectively, the input of the second controlled generator is connected to the first additional output of the decoder, the second additional output of which is connected to the input of the first delay element, the decoder additionally contains circuit I and two additional bits in the input register for setting code 01, the outputs of which are connected respectively to the inverting and non-inverting inputs the odes of the circuit And, the inverse output of which is connected to the second additional output of the decoder, the first additional output of which is connected to the additional output of the decoding element, while the periods T ₁ and T ₂ following the pulses of the first and second controlled generators are respectively selected from the condition T ₂ = NT ₁ , a delay τ _in a shutdown of the first delay element is selected from the condition _in ≥ τ 2 _T s, where T _s - transmission duration information in the input register, the delay time τ ₃ of the second delay member selected from yc Ovia τ = NT _{3 2.}

 The drawing shows a diagram of a remote control system of objects.

 At the first 1 and second 2 objects, a group of N receivers 3 connected in parallel at the input of the input, a first multi-channel switch 4, a decoder 5, a second controlled generator 6, a second pulse counter 7, a second multi-channel switch 8 and a group of N transmitters 9 connected in parallel at the output are connected sequentially. The outputs of the decoder 5 are connected to the corresponding inputs of the controls 10, the additional input of which is connected to the output of the second delay element 11, the fault signal bus 12 and the second additional input of the encoder 13. The first additional input of the encoder 21 is connected to the inputs of the second delay element 11 and the first controlled generator 14 , the input lock of the output signals of the decoder 5 and the output of the first delay element 15, the input of which is connected to the second additional output of the decoder 5. The outputs of the master 16 are connected to the corresponding inputs of the encoder 13, the output of which is connected to the signal input of the second multichannel switch 8. The output of the first controlled generator 14 is connected to the input of the first pulse counter 17, the outputs of which are connected to the corresponding control inputs of the first multichannel switch 4. The decoder 5 contains input register 18 and a decoding element 19, the additional output of which is connected to the first additional output of the decoder 5. The second additional output Lednov connected to the inverse output of the AND circuit 20, an inverting input connected to the output of the first additional discharge input register 18, a second additional discharge outlet which is connected to the noninverting input of AND gate 20.

 The system operates as follows.

At each control object, the driver 16 generates certain control signals r _j , which are converted by the encoder 13 into the control word S _k , which is an (n + 2) -bit binary code (n bits carry information about the signals r _j , (n + 1) -th and (n + 2) -th digits carry additional information in the form of code 01, used to determine the failure). The control signals r _{j of the} driver 16 are relay or analog signals. The control word S _k through the second multichannel switch 8 is supplied to the corresponding transmitter from the group of transmitters 9. The radio signal transmitted by this transmitter is received by one of the group of receivers 3, through the first multichannel switch 4 it is fed to the input of the decoder 5, which decodes the transmitted control word S _k , and the output the decoder signal 5 in the form of relay commands or linear analog signals U _i acts on the control bodies 10 of the control object. The control word S _{k is} transmitted bitwise and sequentially in time, and different types of modulation can be used when transmitting the “0” and “1” elements of the control word.

When remotely controlling the first object 1 from the side of the second object 2 (for example, controlling the temperature or position of the object), the driver 16 of the second object 2 generates control signals r _j , which are converted by the encoder 13 into the control word S _to ^ll , transmitted through the second multi-channel switch 8 and transmitter group of the transmitters to the input 9 of the receiver array of receivers 3 of the first object 1. The decision decoder 5 of the first object 1 via the first multi-channel switch 4 control word S is converted to _a ^l y ravlyaetsya signals U _i, which act on the controls 10, thereby performing temperature control or position of the object.

 The first multi-channel switch 4 is controlled by the output signal of the first counter 17 pulses, the second multi-channel switch 8 is controlled by the output signals of the second counter 7 pulses. Let, for example, the code of the first counter 17 pulses 00.. . 00 corresponds to the connection of the first receiver from the group of receivers 3 to the input of the decoder 5, code 00.. . 01 - connecting the second receiver, code 00.. . 10 - connecting the third receiver and so on until some code matches the connection of the N-th receiver. If after that another pulse arrives at the input of the counter 17, then the counter is set to the initial state 00.. . 00. Similarly, the second multi-channel switch 8 is controlled by the output signals of the second pulse counter 7.

 Consider the operation of the system in the event of failure of the receivers or transmitters under the influence of interference in the radio line in the process of implementing a given mode. Suppose that in the initial state the first receivers and transmitters at each object are connected, and the number N = 4.

The control word S _to ^l with the elements of the code S _q (q = 1, 2,... N + 2) is written into the input register 18 of the decoder 5. The first n bits of the input register 18 are used to convert their information by the decoding element 19 into control signals U _i , (n + 1) -th (n + 2) -th digits, in which code 01 is written when working correctly, are used to analyze the correct operation of the device. The output of the (n + 1) -th bit of the input register 18 is fed to the inverting input of the circuit And 20, and the output of the (n + 2) -th bit of this register is fed to the non-inverting input of the circuit And 20. If S _{n + 1} = 0, S _{n +2} = 1, then the output signal of the circuit is And 20, r _p = 0. The signal of the first delay element to turn off r _{in is} also zero, the signal of the second delay element is M = 0. Therefore, when the transceiver device is working correctly, there is no blocking of the output signals U _i (r _in = 0) and a fault signal is not generated (M = 0).

 Consider the system in case of failure.

Let the first receiver from the group of receivers 3 of the first object 1 fail during operation so that all elements of the code S _{q are} perceived by the input register 18 in the form S _q = 1. In this case, S _{n + 1} = S _{n + 2} = 1. The circuit And 20 forms the output signal r _p = 1, and the first delay element 15 is the output signal r _in = 1. This signal blocks the output signals U _{i of the} decoder 5, starts the second delay element 11, is supplied to the first additional input of the encoder 13 and includes the first controlled generator 14, which when r _in = 1 generates a rectangular pulse s frequency f ₁ (period T ₁ = 1 / f ₁ ). When the time T ₁ expires, the code 01 is set on the first counter 17 (N = 4), connecting the second receiver from the group of receivers 3 using the first multichannel switch 4. If this receiver also becomes inoperative, then after the time T ₁ ( from the moment of failure, time t = 2T ₁ ) the code 10 is set on the first counter 17, thereby connecting the third receiver from the group of receivers 3. At the same time, during the time t = 2T _{1, the} signal r _in = 1 through the encoder 13 and the first transmitter from the group of transmitters 9 the first object 1 is transferred to the second object 2. This signal decoder 5, the second object is converted into a signal U _f = 1, which starts the second rectangular pulse controlled oscillator 6 frequency f ₂ (repetition period T ₂ = 1 / f _2). The repetition period T ₂ is selected from the condition T ₂ = NT ₁ . Since the duration of the signal U _f = 1 is 2T ₁ (less than 4 T ₁ ), the second controlled generator does not give a pulse during this time and the second counter 7 of the second object 2 remains in the same state without changing the connection of the first transmitter from the group of transmitters 9.

Thus, in the case of the considered failure of any receiver on one or the transmitter on another object, the system generates signals r _p = 1, r _in = 1 during the time t, during which correctly functioning receivers and transmitters are connected using counters 7 and 17. For the time t ≅ NT ₂ - T ₁ (the maximum search time is t _{max for} properly functioning receivers of one and transmitters of another object if out of all receivers and transmitters there are correctly functioning N-th receiver and N-th transmitter of different control objects). The delay time of the second delay element 11 is selected τ ₃ = NT ₂ . If the signals of the time r _p = 1, r = 1 _to t ≥NT ₂ (all N receivers and N transmitters different management objects refused), the second delay element 11 generates a fault signal M = 1. This signal acts on bodies 10 control (which carry out actions on the control object, provided in case of a complete failure of the receivers and transmitters) and enters the second additional input of the encoder 13, which through another group of properly functioning transmitters 9 of one object and receivers 3 of another object transmits this signal al another object of control to the input of the decoder 5. Last generates necessary signals U _i for influencing the control object provided in the event of complete failure of N transmitters and receivers N different control facilities.

Let the receiver or transmitter of one of the objects fail so that all the elements of the code S _{q are} perceived by the input register 18 in the form S _q = 0. In this case, S _{n + 1} = S _{n + 2} = 0. Scheme And 20 generates an output signal r _p = 1, and the first delay element 15 is the output signal r _in = 1. In the future, the operation of the system is similar to that described above.

Let the transmitter fail in such a way that the elements of the S _q code of the control word S _to ^ll are formed erroneously according to the rule "1"->"0" (instead of "1", "0" is formed), "0"->"0". Such a case is possible, for example, when transmitting the control word S _to ^ll bitwise and sequentially in time when using frequency modulation ("1" is transmitted by the frequency f _o , "0" by the frequency 1.5 f _o ). Such a transmitter failure occurs if the frequency of the master oscillator f _{o is} unacceptably reduced (for example, 2 times). In this case, all code elements S _q = 0 (S _{n + 1} = S _{n + 2} = 0), and AND circuit 20 generates a signal r _r = 1, and the first delay element 15 - _in a signal r = 1. In further operation of the system similar to that described above.

Let the transmitter fail in such a way that the elements of the S _q code of the control word S _to ^ll are formed erroneously according to the rule "1"->"1","0"->"1" (the frequency of the master oscillator f _{о of the} transmitter increased by 2 times). In this case, all the elements of the code S _q = 1 (S _{n + 1} = 1, S _{n + 2} = 1) and the circuit And 20 generates a signal r _p = 1, and the first delay element 15 - a signal r _in = 1. In the future system operation is similar to that described above.

The control word S is ^transmitted _to ^ll under interference conditions. It is believed that the formation under these conditions S _q = 0 or S _q = 1 is equally probable and does not depend on the transmitted code. In this case, the probability of recording information S _q = 0 or S _q = = 1 is
P _j = 0.5. (1)
The probability of writing P ₀₁ code 01 in the (n + 1) -th and (n + 2) -th bits of the input register 18 is determined by the equality
P ₀₁ = P _j ˙ P _j = 0.25. (2) A random event is considered reliable if the probability of its occurrence is P _d≥ 0.9. In this case, the probability of generating a reliable signal r _p , characterizing the presence of a failure in the transmission of information, is
P _r = (1 - P ₀₁ ) = 0.75. (3)
The probability P ₀₁ ^{1 of} writing the code 01 in the (n + 1) th and (n + 2) th digits of the input register is determined by two control words S _to ^l , one after the other:
P ₀₁ ¹ = P ₀₁ ² = 0.0625. (4)
If the transmission of one control word S _to ^l is T _s, then the implementation of the delay of the trailing edge of the signal r _r = 1 at a time τ _a = 2T _with the probability of the signal r _in = 0 (undetectable faults in the transmission information) is P ^{₁ January.} The output signal of the first turn-off delay element 15 r _in = 1 is formed immediately when the signal r _p = 1 appears and exists for a time while r _p = 1 and for the time τ _in after the appearance of the signal r _p = 0, τ _in is the delay time the trailing edge of the signal r _{p the} first element of the delay on off. When τ _in = 2T _{with the} probability of the formation of a reliable signal r _in = 1 (and the fault signal M = 1) is
P _m = (1 - P ₀₁ ¹ ) = 0.9375> P _d . (5)
Under the conditions of interference under consideration, the signal r _in = 1 carries out continuously throughout the whole time until, when transmitting three consecutive control words S _to ^l , the code elements S _{n + 1} = 0 and S _{n + 2} = 1. Probability such an event equals
P ₀₁ ¹¹ = P ₀₁ ³ = 0.016. (6)
In other words, the interruption of the signal r _in = = 1 is possible once during the transmission time of 64 control words, which directly follows from expression (6). If the task τ ₃ choose within
₂ NT ₃ ≅ ≅τ 64T _c, and the delay τ _B = _2T, the reliable lock signal U _i (r _s = 1) and the fault signal M = 1 is formed with a probability P = 0.9375 _m. The maximum value of τ ₃ can significantly exceed 64 T _s and can be selected from the given requirements if the specific implementation of the second delay element 11 takes into account rare short interruptions of the signal r _in .

We will evaluate the reliability of the known and proposed technical solutions. Let R _p - the reliability of the transmitter or receiver (we consider them equal) to perform the specified mode of operation, R _e - the reliability of the elements of the first 4 and second 8 multi-channel switches of the encoder 13, the decoder 5, the master device 16 and the controls 10 of each object, R _n - reliability introduced elements: the first 14 and second 6 controlled generators, the first 17 and second 7 pulse counters of the first 15 and second 11 delay elements. The reliability of the known remote control system is equal to
P ^l = P _p ⁴ P _e ² .

 It is believed that the known system does not perform the specified mode of operation for any failure of its elements, including the failure of any of the selected transmitters and receivers of each object, since switching to other transmitters or receivers in it is not automatic, but from external sources ( radio systems), which is associated with a significant expenditure of time during which a known system loses its functionality.

The reliability of the proposed remote control system is equal to
P ^ll = (1 - q _p ⁴ ) ⁴ P _e ² ˙ P _n ² , where q _p = 1 - P _p . The proposed system remains operational in case of failure in each group of N receivers or transmitters, N-1 receivers or transmitters. Let P _p = 0.95, P _e = 0.999, P _n = 1 due to the simplicity of execution. For N = 4, P ^l = 0.8135, P ^ll = 0.9987. In other words, the reliability of the proposed system is significantly higher than the reliability of the known system.

 As shown above, the proposed remote control system of objects extends the functionality by detecting a malfunction.

 Comparative analysis with the prototype shows that the inventive system is characterized by the presence of new elements: the first and second controlled generators, the first and second pulse counters, the first and second delay elements and their relationships with the rest of the circuit elements. Thus, the claimed remote control system meets the criterion of "novelty."

 A comparison of the proposed solutions with other solutions shows that the use of controlled generators, pulse counters, delay elements is known. However, their introduction in this connection with the other elements of the circuit in the inventive system leads to the manifestation of new properties: the expansion of functionality by detecting malfunctions and increasing reliability. (56) Gutkin L.S., Pestryakov V.B., Tipugin V.N. Radio control. M.: Soviet Radio, vol. 5, 1970, p. 111, fig. 5.1.

Claims (1)

 SYSTEM OF REMOTE CONTROL OF OBJECTS, containing at each object a group of N (N = 2,3,4..) Receivers, a first multichannel switch, a decoder, a block of control objects, a serially connected master, an encoder, a second multichannel switch and a group of transmitters, this decoder contains a serially connected input register and a decoding element, characterized in that, in order to expand the scope by detecting a malfunction and improving the reliability of the implementation of the control mode, the first delay element, the first controlled generator and the first pulse counter, the second delay element and the second controlled generator and the second pulse counter connected in series, the output of the first delay element is connected to the input block of the output signals of the decoder, the input of the second delay element and the first control the input of the encoder, the second control input of which is connected to the output of the second delay element, the control input of the block of control objects and the indicator , the outputs of the first and second pulse counters are connected to the corresponding inputs of the first and second multichannel switches, respectively, the input of the second controlled generator is connected to the first control output of the decoder, the second controlled output of which is connected to the input of the first delay element, the decoder contains the element And, the outputs of the additional bits of the input register connected respectively to the inverting and non-inverting inputs of the element And, the inverse output of which is connected to the second control the output of the decoder, the first controlled output of which is connected to the control output of the decoding element.

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