三模冗余计算机系统在深潜救生艇舵机控制中的应用研究

Research on Triple Modular Redundancy Computer System Applied in DSRV Rudder Control

摘要:

随着海洋技术的发展,潜艇的应用越来越广泛,在深海下潜艇一旦出事故很难像陆地上一样进行救援,因此深潜救生艇的应用必不可少；而深潜救生艇在水下航行中难免会发生故障,针对舵机可能发生的故障,设计了一种应用于深潜救生艇控制系统的TMR(triple modular redundancy)运动控制计算机系统；该系统以研究能满足于高可靠性系统的冗余技术为立足点,采用故障检测算法和表决算法,研究适用于它的冗余管理方案,以最大限度的提高冗余系统的故障容错能力；最后为验证设计方案的可行性,设计了故障模拟实验,将设计的TMR运动控制计算机系统应用于深潜救生艇的舵机控制中,用于验证冗余设计方案以及故障检测算法和表决算法的可行性；通过仿真结果证明了该控制系统对深潜救生艇舵机控制的有效性。

Abstract:

With the development of the technology of ocean, the application of submarine is more and more widely. And once the submarine has problems in deep ocean, it will be difficult to rescue. So, the DSRV(Deep Submergence Rescue Vehicle) plays an important role in this part. For the failure of the DSRV under water, especially in the rudder control, a kind of TMR (Triple Modular Redundancy) motion control computer system which canbe applied to the DSRV control system was designed. The system’s foothold is to study the redundancy technology which can satisfy the high reliability system. And using fault detection algorithm and vote algorithm, researching on the redundancy management scheme used in the redundancy system to improve fault tolerant ability of redundancy system mostly. At last, this paper designs the fault simulation experiments to verify the feasibility of design scheme, in which the TMR motion control computer system was used in the steering control to verify the feasibility of redundancy design scheme, fault detection algorithm and vote algorithm. Through the results of the simulation, the availability of TMR control system is proved.