CN116089176A - Hot standby dual-redundancy computer control system for AUV - Google Patents
Hot standby dual-redundancy computer control system for AUV Download PDFInfo
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- CN116089176A CN116089176A CN202211473579.4A CN202211473579A CN116089176A CN 116089176 A CN116089176 A CN 116089176A CN 202211473579 A CN202211473579 A CN 202211473579A CN 116089176 A CN116089176 A CN 116089176A
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- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
- G06F11/16—Error detection or correction of the data by redundancy in hardware
- G06F11/1629—Error detection by comparing the output of redundant processing systems
- G06F11/1654—Error detection by comparing the output of redundant processing systems where the output of only one of the redundant processing components can drive the attached hardware, e.g. memory or I/O
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- G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
- G06F11/16—Error detection or correction of the data by redundancy in hardware
- G06F11/1608—Error detection by comparing the output signals of redundant hardware
- G06F11/1625—Error detection by comparing the output signals of redundant hardware in communications, e.g. transmission, interfaces
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Abstract
The invention discloses a hot standby dual-redundancy computer control system for an AUV (autonomous Underwater vehicle), which comprises a first power supply board, a first computing board, a switching and combining board, a storage board, a second computing board and a second power supply board, wherein the first power supply board is connected with the first computing board; the first computing board and the second computing board are both operated with control software for controlling the AUV, and one of the first computing board and the second computing board is used as a main computer board, and the other is used as a standby computer board; the first power panel and the second power panel adopt a load balancing mode to simultaneously supply power for the first computer panel and the second computer panel; the switching and switching combination board is used for realizing network interconnection of the main computing board, the standby computing board and the storage board, switching of output interfaces of the main computing board and the standby computing board, and interconversion of the CAN port, the serial port and the network port; the storage board is used for storing various data which need to be stored when the control software runs and state information files which are needed by state recovery after the software is restarted.
Description
Technical Field
The invention relates to the technical field of AUVs, in particular to a hot standby dual-redundancy computer control system for an AUV.
Background
At present, in the field of design and application of autonomous underwater unmanned underwater vehicles (autonomous underwater vehicle, AUV), a system for controlling the AUV often causes service interruption and data loss when a fault occurs, so that the requirement of autonomous controllability and high reliability is provided for a computer control system for the AUV so as to ensure that the service is not interrupted and the data is not lost when the fault occurs. Control computers based on domestic stand-alone platforms cannot meet these special requirements. In addition, the AUV is limited by volume and power consumption, and the system for controlling the AUV needs to have the characteristics of small volume and low energy consumption.
Disclosure of Invention
In view of this, the present invention provides a hot standby dual redundancy computer control system for an AUV and a method for using the same, which can solve the technical problems of service interruption and data loss caused by failure of the AUV in the prior art.
The present invention is so implemented as to solve the above-mentioned technical problems.
A hot standby dual redundant computer control system for an AUV, comprising:
the system comprises a first power panel, a first computing panel, a switching combination panel, a storage panel, a second computing panel and a second power panel;
the first computing board and the second computing board are both operated with control software for controlling the AUV, one of the first computing board and the second computing board is used as a main computer board, the other one is used as a standby computer board, when the hot standby dual-redundancy computer control system is operated, only one computing board is in a working state, and when the main computer board fails, the switching and switching combination board switches a virtual machine for operating the control software to the standby computer board to continue operation; the redundancy switching of the first computing board and the second computing board is realized through a high-speed Ethernet port based on a TCP/IP protocol;
the first power panel and the second power panel adopt a load balancing mode to simultaneously supply power for the first computer panel and the second computer panel;
the switching and switching combination board is used for realizing network interconnection of the main computing board, the standby computing board and the storage board, switching of output interfaces of the main computing board and the standby computing board, and interconversion of the CAN port, the serial port and the network port;
the storage board is used for storing various data which need to be stored when the control software runs and state information files which are needed by state recovery after the software is restarted.
Preferably, the hot standby dual-redundancy computer control system further comprises a front panel and a back panel, wherein the front panel is used for providing an external aviation plug interface and an indicator lamp, the front panel is connected with a first power panel, a second power panel and a switching and switching combination board, the front panel is respectively connected with the first power panel and the second power panel through weak current lines, the front panel is connected with the switching and switching combination board through communication lines, and the communication lines comprise gigabit Ethernet, serial port communication lines and CAN communication lines;
the backboard is used for providing interconnection and intercommunication functions, the backboard is connected with the first power panel and the second power panel through weak current lines respectively, the backboard is connected with the first computing panel and the second computing panel through 10G Ethernet respectively, the backboard is connected with the switching and combining board through gigabit Ethernet, the backboard is connected with the storage board through PCIe, and the backboard is used for realizing interconnection and communication of the first computing panel, the second computing panel, the switching and combining board and the storage board.
Preferably, the first computing board and the second computing board are configured with an initialization module, a packet transceiver module, a heartbeat module, a connection update module, an analog connection module, a fault detection module, a synchronization module and a switching module.
Preferably, the initialization module is used for initializing the hot standby dual-redundancy computer control system, and the initialization content comprises master-slave mode negotiation, global variable initialization, hook function initialization, heartbeat and fault detection timer creation and starting and connection update module;
the packet transceiver module is used for uniformly receiving and transmitting and dividing heartbeat information and backup information;
the heartbeat module is used for generating heartbeat information of the computing board to which the heartbeat module belongs, namely completing assembly and analysis of heartbeat information messages, wherein the heartbeat information comprises health state information and state information of the computing board, and the heartbeat module is also used for analyzing the received heartbeat information of the other computing board and judging the health state of the other computing board;
the connection updating module is used for tracking the three-way handshake process of the TCP connection;
the simulation connection module is used for initiating a simulation TCP connection establishment process to the TCP/IP kernel of the standby computing board according to the simulation connection message sent by the main computing board, so that the consistency of the TCP connection of the main computing board and the standby computing board is realized;
the fault detection module is used for detecting, judging and processing faults and triggering the corresponding module to process;
the synchronization module is used for synchronizing the related information of the main computing board and the standby computing board and synchronizing the data messages of the TCP connection of the main computing board and the standby computing board;
the switching module is used for switching in and out operations of the main computing board and the standby computing board according to the switching messages sent by the heartbeat module and the fault detection module, and switching states of the main computing board and the standby computing board.
Preferably, the switching module provides a function hook for registration for other modules of the computing board, and the switching module performs unified maintenance and notifies the other modules to detect.
Preferably, the heartbeat module is further configured to analyze the received heartbeat information of the other computing board, and determine a health status of the other computing board, including:
a) The master and slave computing boards can receive heartbeat information of the other party, and if the heartbeat information content has no fault information, the hot standby dual-redundancy computer control system operates normally;
b) The master computing board does not receive the heartbeat information of the slave computing board within a specified time, or the received heartbeat information of the slave computing board contains fault information, the slave computing board is considered to have faults; at this time, the switching of the main and standby computing boards is not performed until the current task is finished or the main computing board fails to cause the task to be stopped;
c) The slave computing board does not receive the heartbeat information of the master computing board within a specified time, or the received heartbeat information of the master computing board contains fault information, the master computing board is considered to be faulty, and the switching of the computing resource and the communication interface is realized through the switching module, so that the working state of the slave computing board is converted into the master computing board.
The beneficial effects are that:
(1) The invention meets the requirements of the AUV, which is a special field, on miniaturization, low power consumption and high reliability of a computer control system.
(2) The invention adopts a miniaturized reinforced chassis to improve the general quality characteristic requirement and the electromagnetic compatibility.
(3) The computer control system has the advantages that the reliability of the computer control system is improved by adopting the double redundancy technology, and when one computer plate fails, the other computer plate can be switched in time to take over the work, so that the system service is ensured not to be interrupted.
(4) The invention provides real-time data synchronization between the two computing boards, and ensures the consistency and reliability of service states during the switching of the main computing board and the standby computing board.
Drawings
Fig. 1 is a schematic diagram of a hot standby dual redundancy computer control system for an AUV according to the present invention.
Fig. 2 is a schematic diagram of a method for using the hot standby dual redundancy computer control system for an AUV according to the present invention.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and examples.
As shown in fig. 1, the present invention proposes a hot standby dual redundancy computer control system for an AUV, comprising:
the device comprises a first power panel, a first computing panel, a switching combination panel, a storage panel, a second computing panel, a second power panel, a front panel and a back panel.
The first computing board and the second computing board are both operated with control software for controlling the AUV, one of the first computing board and the second computing board is used as a main computer board, the other one is used as a standby computer board, when the computer control system is operated, only one computing board is in a working state, and when the main computer board fails, the switching and switching combination board switches a virtual machine for operating the control software to the standby computer board to continue operation; the redundancy switching of the first computing board and the second computing board is realized through a high-speed Ethernet port based on a TCP/IP protocol;
the first power panel and the second power panel adopt a load balancing mode to simultaneously supply power for the first computer panel and the second computer panel;
the switching and switching combination board is used for realizing network interconnection of the main computing board, the standby computing board and the storage board, switching of output interfaces of the main computing board and the standby computing board, and interconversion of the CAN port, the serial port and the network port;
the storage board is used for storing various data which need to be stored when the control software runs and state information files which are needed by state recovery after the software is restarted.
Further, the front panel is used for providing an external aviation plug interface and an indicator lamp, and is respectively connected with a weak current circuit and a communication circuit, including a gigabit Ethernet, a serial communication line and a CAN communication line, with the first power panel, the second power panel and the switching and combining board; the backboard is used for providing interconnection and intercommunication functions, the backboard is connected with the first power panel and the second power panel through weak current lines respectively, the backboard is connected with the first computing panel and the second computing panel through 10G Ethernet respectively, the backboard is connected with the switching and combining board through gigabit Ethernet, the backboard is connected with the storage panel through PCIe, and interconnection and communication of the first computing panel, the second computing panel, the switching and combining board and the storage panel are realized.
In the invention, the first computing board and the second computing board are both computing blade boards, and the first computing board and the second computing board are both developed based on Feiteng2000+, and can be adapted to a domestic Galaxy kylin operating system and domestic firmware. The first computing board and the second computing board comprise a CPU, two 10Gbps high-speed interconnection interfaces, six gigabit Ethernet interfaces and a PCIE x 8 interface, wherein the high-speed interconnection interfaces are connected with a switching and switching combination board and a front panel through a back board, and the high-speed interconnection interfaces are used for carrying out information interaction with external equipment; the kilomega Ethernet interfaces are divided into three groups, each group is provided with two kilomega Ethernet interfaces, the first group is used for heartbeat signal monitoring, the second group is used for data storage, the third group is used for information interaction with external equipment, the kilomega Ethernet interfaces are respectively connected with the switching and switching combination board and the front panel through the back board, and the PCIE x 8 interfaces are used for carrying out conversion and connection of functional modules with other interfaces.
In the invention, the main computing board and the standby computing board keep synchronous in data processing, only the main computing board can respond to the external instruction, and the standby computing board does not respond to the external instruction when the main computing board works normally. In order to avoid human-computer interaction conflict, only one computing board is allowed to be in a main state at any time. And the external server can complete the switching of the main and standby states according to the switching instruction and the heartbeat information of the main computing board and the standby computing board.
In the invention, the first power panel and the second power panel are both power blades, and a dual-redundancy power design is adopted, namely, each power blade can independently meet the full-load operation of a computer control system, and the first power panel and the second power panel are in a dual-redundancy power working mode, namely, the first power panel and the second power panel supply power simultaneously, and respectively provide 50% of power required by the computer control system.
In the invention, the storage board is a composite storage blade composed of a plurality of storage devices, FPGA, SSD, DDR is integrated in the storage board, and a unified standard FTP network access interface is externally provided by the storage board, so that an extended file allocation table file management mode is realized, RAID operation is supported by the storage board, and the safety of stored data can be improved.
In the invention, the backboard provides HDMI, CAN, serial port, USB interface and Ethernet communication interface, the USB interface and HDMI are used as input/output interface when debugging the computer control system; the CAN port, the serial port and the Ethernet communication interface are used for receiving and transmitting state information and control commands with other external equipment.
Further, for the first computing board and the second computing board, the first computing board and the second computing board are in active and standby mode, heartbeat information of the other party is monitored, and the active computing board sends backup information to the standby computing board at regular time so as to keep the active computing board and the standby computing board synchronous and share data of the storage board. When the main computing board breaks down, the standby computing board detects the fault of the main computing board through fault diagnosis, automatically takes over the resources of all the main computing boards, connects an external information interface to the standby computing board through the switching and combining board, continuously acquires data, and automatically completes all the take-over work on the standby computing board.
The first computing board and the second computing board are respectively provided with an initialization module, a packet receiving and transmitting module, a heartbeat module, a connection updating module, an analog connection module, a fault detection module, a synchronization module and a switching module.
The initialization module is used for initializing the computer control system, and the initialization content comprises master-slave mode negotiation, global variable initialization, hook function initialization, heartbeat and fault detection timer creation and starting and connection updating module starting.
The packet transceiver module is used for uniformly receiving and transmitting and dividing the heartbeat information and the backup information.
The heartbeat module is used for generating heartbeat information of the computing board, namely completing assembly and analysis of heartbeat information messages, wherein the heartbeat information comprises health state information and state information of the computing board, and the heartbeat module is also used for analyzing the received heartbeat information of the other computing board and judging the health state of the other computing board.
Further, the heartbeat module is further configured to analyze the received heartbeat information of another computing board, and determine a health status of the another computing board, including:
a) The master and slave computing boards can receive heartbeat information of the other party, and if the heartbeat information content has no fault information, the hot standby dual-redundancy computer control system operates normally;
b) The master computing board does not receive the heartbeat information of the slave computing board within a specified time, or the received heartbeat information of the slave computing board contains fault information, the slave computing board is considered to have faults; at this time, the switching of the main and standby computing boards is not performed until the current task is finished or the main computing board fails to cause the task to be stopped;
c) The slave computing board does not receive the heartbeat information of the master computing board within a specified time, or the received heartbeat information of the master computing board contains fault information, the master computing board is considered to be faulty, and the switching of the computing resource and the communication interface is realized through the switching module, so that the working state of the slave computing board is converted into the master computing board.
The connection update module is used for tracking the three-way handshake process of the TCP connection. And updating the connection table structure according to a TCP connection process, and performing insertion and deletion operations on the connection table linked list.
The simulation connection module is used for initiating the establishment process of the simulation TCP connection to the TCP/IP kernel according to the simulation connection message sent by the main computing board, and realizing the consistency of the TCP connection of the main computing board and the standby computing board.
The fault detection module is used for detecting, judging and processing faults and triggering the corresponding module to process.
Fault detection is a very important guarantee mechanism for hot switching, and effective fault detection is achieved mainly from two aspects: on one hand, the fault monitoring points set in the system are scanned regularly through a fault monitoring timer, and if faults occur, the main and standby switching is immediately carried out; and the other side provides a fault notification interface for other faults, and when other modules fail, the interface function is called to uniformly switch the main and standby.
The synchronization module is used for synchronizing the related information of the main computing board and the standby computing board and synchronizing the data messages of the TCP connection of the main computing board and the standby computing board.
The switching module is used for switching in and out operations of the main computing board and the standby computing board according to the switching messages sent by the heartbeat module and the fault detection module, and switching states of the main computing board and the standby computing board.
Further, the switching module provides a function hook for registration for other modules, the switching module performs unified maintenance and notifies the other modules to detect, and when the related module detects an abnormality, the switching module is notified to perform corresponding primary and standby machine switching work.
The invention provides a technical approach for solving the requirements of autonomous controllability, high reliability, miniaturization, low power consumption and the like of a control computer in AUV design. Can meet the related technical requirements of the AUV design on a control computer.
The invention is applied to a miniaturized hot standby dual-redundancy control computer in an AUV, and the equipment meets 100% of autonomous controllability and comprises the following specific components: two computing blades developed based on Feiteng microprocessor FT2000+64 core are used as main and standby switching nodes, and each computing blade independently operates a Galaxy kylin operating system; the monitoring management module is deployed on the computing blade and is used for supporting I2C management, SOL serial ports, remote KVM and the like and is responsible for fault detection; a switching board for realizing the automatic switching function of the main and standby external output interfaces; a dual redundant power supply module; a high-speed backboard supporting a rate of more than 10 Gbps; a 6U VPX chassis.
The above specific embodiments merely describe the design principle of the present invention, and the shapes of the components in the description may be different, and the names are not limited. Therefore, the technical scheme described in the foregoing embodiments can be modified or replaced equivalently by those skilled in the art; such modifications and substitutions do not depart from the spirit and technical scope of the invention, and all of them should be considered to fall within the scope of the invention.
Claims (6)
1. A hot standby dual redundant computer control system for an AUV, comprising:
the system comprises a first power panel, a first computing panel, a switching combination panel, a storage panel, a second computing panel and a second power panel;
the first computing board and the second computing board are both operated with control software for controlling the AUV, one of the first computing board and the second computing board is used as a main computer board, the other one is used as a standby computer board, when the hot standby dual-redundancy computer control system is operated, only one computing board is in a working state, and when the main computer board fails, the switching and switching combination board switches a virtual machine for operating the control software to the standby computer board to continue operation; the redundancy switching of the first computing board and the second computing board is realized through a high-speed Ethernet port based on a TCP/IP protocol;
the first power panel and the second power panel adopt a load balancing mode to simultaneously supply power for the first computer panel and the second computer panel;
the switching and switching combination board is used for realizing network interconnection of the main computing board, the standby computing board and the storage board, switching of output interfaces of the main computing board and the standby computing board, and interconversion of the CAN port, the serial port and the network port;
the storage board is used for storing various data which need to be stored when the control software runs and state information files which are needed by state recovery after the software is restarted.
2. The hot standby dual-redundancy computer control system of claim 1, further comprising a front panel and a back panel, the front panel for providing an external air interface and an indicator light, the front panel being connected to a first power panel, a second power panel, and a switching and switching combination board, the front panel being connected to the first power panel, the second power panel, respectively, by weak electric lines, the front panel being connected to the switching and switching combination board by communication lines, the communication lines including gigabit ethernet, serial communication lines, and CAN communication lines;
the backboard is used for providing interconnection and intercommunication functions, the backboard is connected with the first power panel and the second power panel through weak current lines respectively, the backboard is connected with the first computing panel and the second computing panel through 10G Ethernet respectively, the backboard is connected with the switching and combining board through gigabit Ethernet, the backboard is connected with the storage board through PCIe, and the backboard is used for realizing interconnection and communication of the first computing panel, the second computing panel, the switching and combining board and the storage board.
3. The hot standby dual redundant computer control system of any of claims 1-2, wherein the first computing board and the second computing board are each configured with an initialization module, a packet transceiver module, a heartbeat module, a connection update module, an analog connection module, a fault detection module, a synchronization module, and a switching module.
4. The hot standby dual redundant computer control system of claim 3, wherein the initialization module is configured to initialize the hot standby dual redundant computer control system, wherein the initialization includes master-slave mode negotiation, global variable initialization, hook function initialization, creating and starting a heartbeat and failure detection timer, and starting a connection update module;
the packet transceiver module is used for uniformly receiving and transmitting and dividing heartbeat information and backup information;
the heartbeat module is used for generating heartbeat information of the computing board to which the heartbeat module belongs, namely completing assembly and analysis of heartbeat information messages, wherein the heartbeat information comprises health state information and state information of the computing board, and the heartbeat module is also used for analyzing the received heartbeat information of the other computing board and judging the health state of the other computing board;
the connection updating module is used for tracking the three-way handshake process of the TCP connection;
the simulation connection module is used for initiating a simulation TCP connection establishment process to the TCP/IP kernel of the standby computing board according to the simulation connection message sent by the main computing board, so that the consistency of the TCP connection of the main computing board and the standby computing board is realized;
the fault detection module is used for detecting, judging and processing faults and triggering the corresponding module to process;
the synchronization module is used for synchronizing the related information of the main computing board and the standby computing board and synchronizing the data messages of the TCP connection of the main computing board and the standby computing board;
the switching module is used for switching in and out operations of the main computing board and the standby computing board according to the switching messages sent by the heartbeat module and the fault detection module, and switching states of the main computing board and the standby computing board.
5. The hot standby dual redundant computer control system of claim 4, wherein the switching module provides a function hook for registration for other modules of the computing board, and the switching module performs unified maintenance and notifies the other modules to detect.
6. The dual redundancy computer control system of claim 4, wherein the heartbeat module is further configured to parse and analyze received heartbeat information of another computing board, and determine a health status of the another computing board, comprising:
a) The master and slave computing boards can receive heartbeat information of the other party, and if the heartbeat information content has no fault information, the hot standby dual-redundancy computer control system operates normally;
b) The master computing board does not receive the heartbeat information of the slave computing board within a specified time, or the received heartbeat information of the slave computing board contains fault information, the slave computing board is considered to have faults; at this time, the switching of the main and standby computing boards is not performed until the current task is finished or the main computing board fails to cause the task to be stopped;
c) The slave computing board does not receive the heartbeat information of the master computing board within a specified time, or the received heartbeat information of the master computing board contains fault information, the master computing board is considered to be faulty, and the switching of the computing resource and the communication interface is realized through the switching module, so that the working state of the slave computing board is converted into the master computing board.
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| CN118244855A (en) * | 2024-05-27 | 2024-06-25 | 湖南博匠信息科技有限公司 | Integrated chassis control method and integrated chassis |
| CN118244855B (en) * | 2024-05-27 | 2024-08-09 | 湖南博匠信息科技有限公司 | Integrated chassis control method and integrated chassis |
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