CN112731793A - Redundant system of space mechanism controller - Google Patents
Redundant system of space mechanism controllerDownload PDFInfo
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- CN112731793A CN112731793ACN202011410147.XACN202011410147ACN112731793ACN 112731793 ACN112731793 ACN 112731793ACN 202011410147 ACN202011410147 ACN 202011410147ACN 112731793 ACN112731793 ACN 112731793A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B9/00—Safety arrangements
- G05B9/02—Safety arrangements electric
- G05B9/03—Safety arrangements electric with multiple-channel loop, i.e. redundant control systems
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Abstract
Description
Technical Field
The invention relates to the field of spacecraft actuator controllers, in particular to a redundant system of a spacecraft actuator controller.
Background
The conventional space mechanism controller generally adopts a main/standby machine redundancy design mode, and the main/standby machine is switched through an external instruction.
The conventional spacecraft mechanism controller generally adopts a main and standby machine redundancy design mode, the redundancy design mode adopts a cold backup working mode, once a fault occurs, the mechanism needs to be switched by upper layer single machine or ground judgment, in the fault process, the mechanism is in an out-of-control state, and after the switching is finished, because the current mechanism does not have various data, the mechanism control is interrupted, and the continuous operation of the mechanism control is not facilitated.
Disclosure of Invention
The invention aims to provide a redundant system of a space mechanism controller, which realizes the on-orbit automatic cutting machine and fault recovery of the mechanism controller and greatly improves the reliability of products.
In order to achieve the purpose, the invention is realized by the following technical scheme:
a redundant system of a space mechanism controller is characterized by comprising: the motor drive control module assembly, the processor module assembly and the arbitration backup module assembly are sequentially connected;
the motor drive control module component comprises a pair of motor drive control modules which are arranged in a backup way;
the processor module assembly comprises a pair of processor modules which are mutually arranged in a backup way;
the arbitration backup module component comprises a pair of arbitration backup modules which are arranged for backing up each other.
Each motor driving control module is respectively connected with each processor module;
each processor module is connected to each arbitration backup module.
Each module is connected with an independent relay and controls the power supply of the relay.
And data interaction is carried out among the modules in a serial port mode.
One processor module carries out data interaction with any one motor drive control module; if the communication between the processor module and the motor drive control module fails or the content returned to the processor module by the motor drive control module is wrong, the processor module controls one of the motor drive control modules to be powered off and controls the other motor drive control module to be powered on.
One arbitration backup module performs data interaction with any processor module; if the communication between the arbitration backup module and the processor modules fails or the contents returned by the processor modules to the arbitration backup module are wrong, the arbitration backup module controls one of the processor modules to be powered off and controls the other processor module to be powered on.
The arbitration backup module is also connected with a superior single machine; if the communication between the arbitration backup module and the upper stand-alone machine fails or the content returned to the upper stand-alone machine by the arbitration backup module is wrong, the upper stand-alone machine controls one arbitration backup module to be powered off and controls the other arbitration backup module to be powered on.
The upper level single machine is also used for receiving the communication error state of the processor module and the arbitration backup module.
Compared with the prior art, the invention has the following advantages:
the reliability of the product adopting the scheme is greatly higher than that of the conventional scheme; meanwhile, because the modules are subjected to data interactive backup, when a single module breaks down, the fault module can be quickly positioned and the cutting machine can be implemented, and then the continuous control of the mechanism is realized through data backup and recovery.
Drawings
Fig. 1 is a schematic structural diagram of a redundant system of a spatial mechanism controller according to the present invention.
Detailed Description
The present invention will now be further described by way of the following detailed description of a preferred embodiment thereof, taken in conjunction with the accompanying drawings.
As shown in fig. 1, a redundant system of a spatial mechanism controller includes: the motor drive control module assembly, the processor module assembly and the arbitration backup module assembly are sequentially connected; the motor drive control module component comprises a pair of motor drive control modules which are arranged in a backup way; the processor module assembly comprises a pair of processor modules which are mutually arranged in a backup way; the arbitration backup module component comprises a pair of arbitration backup modules which are arranged for backing up each other.
Each motor driving control module is respectively connected with each processor module; each processor module is connected to each arbitration backup module.
Each module is connected with an independent relay and controls the power supply of the relay.
And data interaction is carried out among the modules in a serial port mode.
One processor module carries out data interaction with any one motor drive control module; if the communication between the processor module and the motor drive control module fails or the content returned to the processor module by the motor drive control module is wrong, the processor module controls one of the motor drive control modules to be powered off and controls the other motor drive control module to be powered on.
One arbitration backup module performs data interaction with any processor module; if the communication between the arbitration backup module and the processor modules fails or the contents returned by the processor modules to the arbitration backup module are wrong, the arbitration backup module controls one of the processor modules to be powered off and controls the other processor module to be powered on.
The arbitration backup module is also connected with a superior single machine; if the communication between the arbitration backup module and the upper stand-alone machine fails or the content returned to the upper stand-alone machine by the arbitration backup module is wrong, the upper stand-alone machine controls one arbitration backup module to be powered off and controls the other arbitration backup module to be powered on.
The upper level single machine is also used for receiving the communication error state of the processor module and the arbitration backup module.
Further, the motor drive control module assembly comprises a main motor drive control module and a standby motor drive control module; the processor module assembly comprises a main processor module and a standby processor module; the arbitration backup module component comprises a main arbitration backup module and a backup arbitration backup module. The main motor drive control module is connected with the standby motor drive control module through a data serial port, the main processor module is simultaneously connected with the main motor drive control module and the standby motor drive control module, the standby processor module is simultaneously connected with the main motor drive control module and the standby motor drive control module, a relay is arranged between the main processor module and the main motor drive control module, a cutter instruction is sent out by the corresponding processor module when the communication between the main motor drive module and the main processor module or the standby processor module fails or the content returned to the main processor module or the standby processor module is wrong, the relay cuts off the power supply of the main motor drive module after receiving the cutter instruction and controls the standby motor drive module to be electrified; the backup and switching principle between the backup motor driving control module and the main/backup processor module is similar to that of the main motor driving control module, and is not described herein again.
The main processor module is connected with the standby processor module through a data serial port, the main arbitration backup module is simultaneously connected with the main/standby processor module, the standby arbitration backup module is simultaneously connected with the main/standby processor module, a relay is arranged between the main arbitration backup module and the main processor module, and a relay is arranged between the standby arbitration backup module and the standby processor module; when the communication between the standby processor module and the main arbitration backup module or the standby arbitration backup module fails or the content returned to the main/standby arbitration backup module is wrong, the state of the communication error with the standby processor module is fed back to a superior single machine through remote measurement, so that the phenomenon that the processor module is not shut down due to the fault of the current arbitration backup module is prevented, and finally the complete machine cannot work.
The main/standby arbitration backup module is connected with the upper stand-alone machine through a relay, when the main arbitration backup module fails to communicate with the upper stand-alone machine or has a state error, the upper stand-alone machine controls the main arbitration backup module to be powered off and controls the standby arbitration backup module to be powered on, and when the standby arbitration backup module fails to communicate with the upper stand-alone machine or has a state error, the upper stand-alone machine controls the standby arbitration backup module to be powered off and controls the main arbitration backup module to be powered on.
Furthermore, the arbitration backup module adopts a simple and reliable circuit design to improve the reliability of the module as much as possible, and simultaneously, external instructions are reserved to switch the module.
Assuming that the reliability of the processor module, the motor drive control module and the arbitration backup module are R1, R2 and R3, respectively, the reliability of the conventional mechanism controller is R1- (1-R1R 2R 3)2And the reliability R' of the scheme is (1- (1-R1)2)*(1-(1-R2)2)*(1-(1-R3)2) Obviously, the reliability of the product adopting the scheme is greatly higher than that of the conventional scheme; meanwhile, because the modules are subjected to data interactive backup, when a single module breaks down, the fault module can be quickly positioned and the cutting machine can be implemented, and then the continuous control of the mechanism is realized through data backup and recovery.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (8)
1. A redundant system of space mechanism controllers, comprising: the motor drive control module assembly, the processor module assembly and the arbitration backup module assembly are sequentially connected;
the motor drive control module component comprises a pair of motor drive control modules which are arranged in a backup way;
the processor module assembly comprises a pair of processor modules which are mutually arranged in a backup way;
the arbitration backup module component comprises a pair of arbitration backup modules which are arranged for backing up each other.
2. The space mechanism controller redundancy system of claim 1, wherein each of said motor drive control modules is connected to each of said processor modules;
each processor module is connected to each arbitration backup module.
3. The space mechanism controller redundancy system of claim 1, wherein each module is connected to a separate relay and controls its power supply.
4. The spatial mechanism controller redundancy system as set forth in claim 1, wherein the modules exchange data with each other in a serial mode.
5. The space mechanism controller redundancy system of claim 1, wherein one of the processor modules is in data communication with any one of the motor drive control modules; if the communication between the processor module and the motor drive control module fails or the content returned to the processor module by the motor drive control module is wrong, the processor module controls one of the motor drive control modules to be powered off and controls the other motor drive control module to be powered on.
6. The space agency controller redundancy system as claimed in claim 1, wherein one of the mediation backup modules performs data interaction with any one of the processor modules; if the communication between the arbitration backup module and the processor modules fails or the contents returned by the processor modules to the arbitration backup module are wrong, the arbitration backup module controls one of the processor modules to be powered off and controls the other processor module to be powered on.
7. The spatial mechanism controller redundancy system as set forth in claim 6, wherein said arbitration backup module is further connected to a superior stand-alone; if the communication between the arbitration backup module and the upper stand-alone machine fails or the content returned to the upper stand-alone machine by the arbitration backup module is wrong, the upper stand-alone machine controls one arbitration backup module to be powered off and controls the other arbitration backup module to be powered on.
8. The spatial mechanism controller redundancy system as set forth in claim 7, wherein said upper level single machine is further adapted to receive a communication error status of the processor module and the arbitration backup module.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011410147.XACN112731793B (en) | 2020-12-03 | 2020-12-03 | Redundant system of space mechanism controller |
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| CN202011410147.XACN112731793B (en) | 2020-12-03 | 2020-12-03 | Redundant system of space mechanism controller |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114374343A (en)* | 2021-12-13 | 2022-04-19 | 上海航天控制技术研究所 | Space flexible arm drive controller |
| CN115857399A (en)* | 2022-12-02 | 2023-03-28 | 之江实验室 | A multi-rotor UAV flight control system and multi-rotor UAV based on centralized redundancy |
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- 2020
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| CN115857399A (en)* | 2022-12-02 | 2023-03-28 | 之江实验室 | A multi-rotor UAV flight control system and multi-rotor UAV based on centralized redundancy |
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| CN112731793B (en) | 2022-12-23 |
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