MULTI-LEVEL SAFETY REDUNDANCY CONTROL SYSTEM FOR ELECTRIFIED MONORAIL SYSTEM

摘要

A multi- level security redundancy control system for an electrified monorail system. A task input module inputs a task instruction to a motion controller, and the motion controller generates a driving instruction according to the task instruction, and transmits the driving instruction to a driving device of an execution component; low, medium and high priority sensors respectively acquire sensing signals and transmit the sensing signals to a security processor. The security processor performs data fusion processing based on health estimation, and makes a decision according to the processing result. If it is necessary to take action on the execution component, the security processor firstly prohibits, by means of I/O signal hardware flow control, the motion controller from transmitting a driving instruction to the driving device of the execution component, and then the security processor transmits to the driving device of the execution component a control instruction corresponding to the decision that has been made. The motion controller and the security processor periodically back up parameter information about the other party; and the motion controller and the security processor are watchdogs of each other. The multi-level security redundancy control system improves system security and stability, and avoids significant personal or property loss.