CN112114574B - A method and system for fault detection and isolation of dual redundancy servo system - Google Patents

Abstract

The invention belongs to the field of fault diagnosis, and is specifically a method and system for fault detection and isolation of a dual-redundancy servo system. By constructing a dual-redundancy position sensor system, a triple-redundancy system controller and a dual-redundancy motor controller, A controller and sensor system that combines redundancy and triple redundancy, and then locates feedback component faults or forward channel component faults, locates fault channels, and isolates fault channels. There is no single point in the system and there is no decision-making center. There will be no collapse of the entire system due to failure of the decision-making center, so the reliability of the system can be greatly improved. Through further analysis of the fault information obtained by the controller, the accurate location of the fault can be obtained, so that fault isolation can be implemented and the backup channel can be started.

Description

A method and system for fault detection and isolation of dual redundancy servo system

Technical field

The invention belongs to the field of fault diagnosis, and specifically relates to a method and system for fault detection and isolation of a dual-redundancy servo system.

Background technique

Servo systems based on servo motors such as brushless DC motors and permanent magnet synchronous motors are the actuators of motion control systems and have an important impact on the reliability of the entire system. The use of redundancy technology is an important means to improve the reliability of the servo system, that is, by configuring some or all components in the system redundantly, when a fault occurs, the redundant components in hot backup or cold backup are used to keep the system running. And still meet certain performance indicators.

Compared with triple-redundant or more redundant systems, dual-redundant systems have obvious advantages in terms of volume, weight, cost, etc. However, when a fault occurs in a dual-redundant system, it is difficult to directly resolve the fault through voting or other means. Accurate positioning, which restricts the full use of the reliability of the dual-redundancy system, imposes certain restrictions on its application.

Contents of the invention

The purpose of the present invention is to provide a method and system for fault detection and isolation of a dual-redundancy servo system, which can overcome the problem of difficulty in accurately locating faults in a dual-redundancy system in the event of a single-point failure, and realize the reliability of the dual-redundancy system. A substantial increase.

The technical solution of the present invention is as follows:

A dual-redundancy servo system fault detection and isolation method, including the following steps:

Step 1) Build a dual-redundant and triple-redundant controller and sensor composed of a triple-redundant position sensor system (1), a triple-redundant system controller (2), and a dual-redundant motor controller (3) system;

Step 2) Feedback component fault or forward channel component fault location

Utilize a controller and sensor system that combines dual redundancy and triple redundancy to make comprehensive judgments on information;

Step 3) Locate the fault channel

Based on the cold backup operating status, locate the specific fault location;

Step 4) Isolate the faulty channel.

The three-redundancy position sensor system (1) is to place three position sensors of the same type or different types at the output axis of the system, measure the system output angle or linear displacement, and obtain a three-way system position output from the three sensors. .

The three-redundancy system controller (2) is three processors connected correspondingly to the three-redundancy position sensor.

The dual-redundant motor controller (3) is composed of two processors, each of which can receive three data processing results from the triple-redundant system controller.

The specific steps of judgment in step 2) are as follows:

1) Within each margin of the system controller, compare the control instructions with the position feedback information obtained from the corresponding position sensor to determine whether the feedback information and the control instructions are consistent;

2) If the control command is consistent with the position feedback information, normal position loop calculation is performed and the calculation results are sent to the two processors of the dual redundancy motor controller.

Otherwise, it is considered that a fault has occurred, and the fault information is sent to the two processors of the dual-redundancy motor controller;

3) Each redundancy in the three-redundancy controller compares the received control instructions and position feedback information, so three comparison results can be obtained. The two processors of the dual-redundancy motor controller receive the comparison results. Each processor can receive the three comparison results of the triple-redundancy controller. At the same time, the two processors of the dual-redundancy motor controller can receive the comparison results. The three results received will be compared. If the three results are consistent, the system is considered normal. If they are inconsistent, the system is considered faulty;

4) Considering only the case of single point failure, only two situations may occur: all three comparison results fail, or only one comparison result shows failure. Determine which of the two situations the system failure belongs to. If only one comparison result fails, it can be determined that the feedback channel has failed, that is, the corresponding position sensor or connecting cable or the corresponding information collection and processing module Wait for a failure to occur. If the three comparison results are all faults, it is considered that there is a fault in the forward channel of the system.

Step 3) The steps to locate the specific fault location are as follows:

1) The comparison result is obtained and judged by the dual redundancy motor controller. If the judgment result is that the feedback channel is faulty, the feedback channel for which the comparison result is faulty is considered to be faulty;

2) If the judgment result is that the forward channel is faulty, it is considered that the currently running forward channel is faulty;

If the system is in a hot backup operating state, the system needs to be converted into a cold backup operating state first, and then the method of the present invention is used for fault detection and isolation.

The specific steps of step 4) are as follows:

1) For feedback channel faults, isolate the fault feedback channel, that is, the feedback result of this feedback channel is no longer used, and the other two feedback signals are used for closed-loop calculation;

2) If the forward channel of the system fails, turn off the driver output, or if using a switch, disconnect the power supply of this channel to disconnect the fault channel, and enable the backup channel at the same time to allow the system to continue running.

It includes three position sensors located at the position of the system output shaft, which measure and output the three-way system position; it also includes a three-redundancy system controller composed of three processors respectively connected to the three position sensors; and It includes a dual-redundant motor controller composed of two processors. Each processor of the dual-redundant motor controller can interact with the three position sensors in the triple-redundant system controller for signal interaction.

Each processor in the dual-redundant motor controller is connected to the drive circuit.

The processor is DSP, ARM-based MCU or FPGA.

The significant effects of the present invention are:

1. Constructed a controller and sensor system that combines dual redundancy and triple redundancy

The triple-redundancy system can be voted on, and its fault location and isolation are relatively simple, while the double-redundancy system can achieve redundancy with fewer configurations, but when a system failure occurs, it is difficult to accurately locate the fault channel. This method Combining triple redundancy and double redundancy, the position sensor uses triple redundancy, and the controller combines triple redundancy and double redundancy, and then a controller and sensor that combines double redundancy and triple redundancy can be constructed. The system realizes the combination of the advantages of double redundancy and triple redundancy.

2. Feedback component failure or forward channel component fault location

Closed-loop servo systems usually consist of a forward channel and a feedback channel. The forward channel usually includes controllers, drives, motors and actuators, etc., while the feedback channel usually consists of measurement components and signal conditioning circuits. This method compares the control instructions and feedback signals issued by the host computer or flight control computer in a controller and sensor system that combines dual redundancy and triple redundancy to determine whether the fault occurs in the feedback channel or the forward channel. , complete the preliminary location of the fault.

3. Fault channel location

Accurate location of the fault is the prerequisite for channel switching. According to the above section, it is determined that the fault is located in the forward channel or feedback channel. This method further analyzes the fault information obtained by the controller to obtain the accurate location of the fault, so as to This enables fault isolation to be implemented and backup channels to be started.

4. Fault channel isolation

Fault channel isolation is to isolate the fault part from the normal part to avoid the impact of the fault on the operation of the system. In this method, for the forward channel fault, a control instruction is issued through the controller to turn off the drive output. For the feedback channel fault, then Ignore fault feedback information so that the system only uses normal feedback information to work. After the faulty channel is isolated, the system can continue to work normally.

This method is that there is no single point in the system, and there is no decision-making center. There will be no collapse of the entire system due to failure of the decision-making center, so the reliability of the system can be greatly improved.

Description of drawings

Figure 1 is a schematic diagram of a controller and sensor system that combines dual redundancy and triple redundancy.

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

Step 1. Construct a controller and sensor system that combines dual redundancy and triple redundancy

As shown in Figure 1, in order to make the system take into account the advantages of convenient fault location of the three-redundancy system and the lower volume and weight cost of the dual-redundancy system, a controller and sensor system that combines dual-redundancy and triple-redundancy was constructed, which specifically includes :

1) Construct a three-redundancy position sensor system 1

Place three position sensors of the same type or different types at the output shaft of the system to measure the system output angle or linear displacement, and obtain three system position outputs from the three sensors.

2) Construct a triple redundancy system controller 2

Corresponding to the three-redundancy position sensor, the system uses three processors (DSP, ARM-based MCU or FPGA and other processing chips) to receive three position information respectively, and receives position instructions from the host computer or flight control computer.

3) Build a dual-redundant motor controller 3

The dual-redundancy system adopts a dual-motor or dual-winding solution, using two processors (DSP, ARM-based MCU or FPGA and other processing chips) to control two motors or two windings of the same motor respectively. Each processor It can receive three data processing results from the three-redundancy system controller, and send the PWM signal to the drive circuit based on the results to control the motor or winding.

Step 2. Feedback component failure or forward channel component fault location

Using a controller and sensor system that combines dual redundancy and triple redundancy to comprehensively judge the information, it can be determined whether the fault is located on the forward channel or the feedback channel. The specific steps for making the judgment are as follows:

1) Within each margin of the system controller, compare the control instructions with the position feedback information obtained from the corresponding position sensor to determine whether the feedback information and the control instructions are consistent.

2) If the control command is consistent with the position feedback information, normal position loop calculation is performed and the calculation results are sent to the two processors of the dual redundancy motor controller.

Otherwise, it is considered that a fault has occurred, and the fault information is sent to the two processors of the dual-redundancy motor controller.

3) Each redundancy in the three-redundancy controller compares the received control instructions and position feedback information, so three comparison results can be obtained. The two processors of the dual-redundancy motor controller receive the comparison results. Each processor can receive the three comparison results of the triple-redundancy controller. At the same time, the two processors of the dual-redundancy motor controller can receive the comparison results. The three results received will be compared. If the three results are consistent, the system is considered normal. If they are inconsistent, the system is considered faulty.

4) Considering only the case of single point failure, only two situations may occur: all three comparison results fail, or only one comparison result shows failure. Determine which of the two situations the system failure belongs to. If only one comparison result fails, it can be determined that the feedback channel has failed, that is, the corresponding position sensor or connecting cable or the corresponding information collection and processing module Wait for a failure to occur. If the three comparison results are all faults, it is considered that there is a fault in the forward channel of the system.

Step 3. Fault channel location

After it is determined that the fault is in the forward channel or feedback channel, the fault location needs to be further located to isolate the fault. For the cold backup (one motor works, the other motor follows) operating status, the steps to locate the specific fault location are as follows:

1) The comparison result is obtained and judged by the dual redundancy motor controller. If the judgment result is that the feedback channel is faulty, it is considered that the feedback channel for which the comparison result is faulty has failed.

2) If the judgment result is that the forward channel is faulty, it is considered that the currently running forward channel is faulty.

If the system is in a hot backup operating state, the system needs to be converted into a cold backup operating state first, and then the method of the present invention is used for fault detection and isolation.

Step 4. Fault channel isolation

After the fault is located, the fault needs to be isolated so that the system can still maintain operation and meet certain design indicators. Specific steps are as follows:

1) For feedback channel faults, isolate the fault feedback channel, that is, the feedback result of this feedback channel is no longer used, and the other two feedback signals are used for closed-loop solution.

2) If the forward channel of the system fails, turn off the driver output, or if using a switch, disconnect the power supply of this channel to disconnect the fault channel, and enable the backup channel at the same time to allow the system to continue running.

Claims (6)

1. A dual-redundancy servo system fault detection and isolation method, which is characterized by including the following steps: Step 1) Build a dual-redundant and triple-redundant controller and sensor composed of a triple-redundant position sensor system (1), a triple-redundant system controller (2), and a dual-redundant motor controller (3) system; Step 2) Feedback component fault or forward channel component fault location Utilize a controller and sensor system that combines dual redundancy and triple redundancy to make comprehensive judgments on information; Step 3) Locate the fault channel Based on the cold backup operating status, locate the specific fault location; Step 4) Isolate the faulty channel; The three-redundancy position sensor system (1) is to place three position sensors of the same type or different types at the output axis of the system, measure the system output angle or linear displacement, and obtain a three-way system position output from the three sensors. ; The three-redundancy system controller (2) is three processors connected correspondingly to the three-redundancy position sensor; The dual-redundant motor controller (3) is composed of two processors, each of which can receive three data processing results from the triple-redundant system controller; The specific steps of judgment in step 2) are as follows: 1) Within each margin of the system controller, compare the control instructions with the position feedback information obtained from the corresponding position sensor to determine whether the feedback information and the control instructions are consistent; 2) If the control command is consistent with the position feedback information, normal position loop calculation is performed and the calculation results are sent to the two processors of the dual redundancy motor controller. Otherwise, it is considered that a fault has occurred, and the fault information is sent to the two processors of the dual-redundancy motor controller; 3) Each redundancy in the three-redundancy controller compares the received control instructions and position feedback information, so three comparison results can be obtained. The reception ratio of the two processors of the dual-redundancy motor controller is For the results, each processor can receive the three comparison results in the three-redundancy controller. At the same time, both processors of the dual-redundancy motor controller will compare the three results received. If If the three results are consistent, the system is considered normal; if they are inconsistent, the system is considered faulty; 4) Considering only the situation of single point failure, there are only two situations that may occur: all three comparison results are faulty, or only one comparison result shows a fault. Determine which of the two situations the fault in the system belongs to. , if only one comparison result is faulty, it can be determined that the feedback channel is faulty, that is, the corresponding position sensor or connecting cable or the corresponding information collection and processing module is faulty. If the three comparison results are all faulty, It is considered that the forward channel of the system has failed. 2. A method of fault detection and isolation of a dual-redundancy servo system as claimed in claim 1, characterized in that: the step 3) of locating the specific fault location is as follows: 1) The comparison result is obtained and judged by the dual redundancy motor controller. If the judgment result is that the feedback channel is faulty, the feedback channel for which the comparison result is faulty is considered to be faulty; 2) If the judgment result is that the forward channel is faulty, it is considered that the currently running forward channel is faulty; If the system is in a hot backup operating state, you need to first transform the system into a cold backup operating state, and then perform fault detection and isolation. 3. A method of fault detection and isolation of a dual-redundancy servo system as claimed in claim 1, characterized in that: the specific steps of step 4) are as follows 1) For feedback channel faults, isolate the fault feedback channel, that is, the feedback result of this feedback channel is no longer used, and the other two feedback signals are used for closed-loop calculation; 2) If the forward channel of the system fails, turn off the driver output, or if using a switch, disconnect the power supply of this channel to disconnect the fault channel, and enable the backup channel at the same time to allow the system to continue running. 4. A method for fault detection and isolation of a double redundancy servo system as claimed in claim 1, characterized in that: a controller and sensor system combining double redundancy and triple redundancy, including a system located at the output shaft of the system. Three position sensors, which measure and output the position of the three-way system; also include a three-redundancy system controller composed of three processors respectively connected to the three position sensors; also include two processors Dual-redundant motor controller, each processor in the dual-redundant motor controller can interact with the three position sensors in the triple-redundant system controller. 5. A method for fault detection and isolation of a dual redundancy servo system as claimed in claim 4, characterized in that: each processor of the dual redundancy motor controller is connected to a drive circuit. 6. A dual-redundancy servo system fault detection and isolation method as claimed in claim 4, characterized in that: the processor is a DSP, an ARM-based MCU or an FPGA.