CN106354930B - A kind of self-adapting reconstruction method and system of spacecraft - Google Patents
A kind of self-adapting reconstruction method and system of spacecraft Download PDFInfo
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Abstract
The invention discloses a kind of self-adapting reconstruction method of spacecraft and systems, this method comprises: S1: data collection steps；S2: mathematic sign formalizes step；S3: formalization mathematic sign detecting step；S4: self-reconstruction system feedback step；S5: self-reconstruction system Optimization Steps.The system includes: data acquisition module；Mathematic sign formalizes module, is equivalent to mathematical symbolism module；Mathematic sign detection module is formalized, model checking module is equivalent to；Self-reconstruction system feedback module；Self-reconstruction system optimization module.Method and system of the invention embodies program, hardware, environment and the aspect of specification four and influences each other, and real simulation actual environment process, can accomplish to find the problem simultaneously self-adapting reconstruction, it is ensured that the reliability of Hardware/Software Collaborative Design.
Description
Technical field
The present invention relates to a kind of self-adapting reconstruction method of spacecraft and systems.
Background technique
With the rapid development of spacecraft, spacecraft technology is also just playing more and more extensive effect.With
This simultaneously, the security reliability of aircraft also becomes one of important technology index of spacecraft.Develop within 2016 13
In trend study report, using deep space exploration and spacecraft in-orbit service and maintenance system as " science and technology is created on NPC and CPPCC
New 2030 --- major project " one of six big major scientific and technological projects, and especially to Chinese near space vehicle industrial application into
Analyze to row scientific system.One of core when the Adaptable System of spacecraft is its operation, to the peace of spacecraft
Complete and stability plays the role of absolute.How to improve the fault tolerant mechanism of aircraft and quickly copes with the self-adapting reconstruction of different scenes
Technology is the research hotspot and emphasis in intelligent aircraft field always.
Currently a popular reconstruct flight control technology has been achieved for very big progress, can in academia and industry
Using intelligent control technology, when local problem occurs for aircraft, the reconstruct damage location of automatic intelligent overcomes failure.This
Invention, which is laid particular emphasis on, realizes the adaptive of software and reconstruct by the method for formalization.At present in the side in flight self-adapting reconstruction field
Method mainly includes two classes: it is reconstructed first is that providing fault message by fault detection to complete control law, mainly pseudoinverse technique,
Quantitative Feedback reconfigurable control, the methods of synovial membrane control；Second is that not depending on fault detection mechanism, system is carried out in aircraft operation
Real-time monitoring identification, dynamic design control, main method has a direct adaptive control method, model reference automatic control method, from
Adapt to Quantitative Feedback separation and war control method etc..These methods are each to have respective advantage and disadvantage by oneself, is generally adopted by from existing discovery
The problem of angle it is adaptive to carry out, such as machine learning, the principles via Self-reconfiguration such as Quantitative Feedback, thus efficiency with higher and
It is widely applied.However, functional module is more and more as aircraft becomes increasingly complex, conventional method sometimes cannot comprehensively efficiently
Discovery it is potential and be difficult to expect problem, these are all the significant challenges encountered in self-adapting reconstruction efficiency and confidence level.
The via Self-reconfiguration process of aircraft can be regarded as a system and constantly carry out self-examination, constantly discovers oneself
Mistake, and can rapidly self be repaired, self reconfiguration system, to solve the mistake for the catastrophic failure that system encounters
Journey.The methods of traditional machine learning, error flag, Quantitative Feedback can efficiently cope with many mistakes really.Then, traditional
Method lacks the reliable on strict mathematical logic mostly, this brings serious difficulty to research and development person, i.e., can not
Whether the software and hardware of confirmation exploitation is reliable.
Summary of the invention
For some defects of current aircraft adaptation mechanism methods and techniques, the invention proposes a kind of adaptive weights
Structure method.
A kind of self-adapting reconstruction method of spacecraft, includes the following steps:
S1: data collection steps are used to acquire the software data, hardware data and environmental data of aerocraft system；
S2: mathematic sign formalizes step, and collected software data, hardware data are converted into mathematic sign table
Show, environmental data is optimized and is converted into formalization mathematical symbolism；
S3: formalization mathematic sign detecting step, according to normalized constraints and formalization theorem, to being converted in S2
It is detected at the data code requirement constraint condition and formalization theorem of formalization mathematic sign, detects whether there is self weight
The structure sequence of operation forms result information；
S4: self-reconstruction system feedback step carries out self weight based on result information described in S3 and is configured to reconfiguration information, so
The reconfiguration information is fed back into S3 afterwards and is used to adjust the normalized constraints and formalization theorem, while by the reconstruct
Information is sent to self-reconstruction system Optimization Steps.
S5: self-reconstruction system Optimization Steps are formed based on reconfiguration information described in result information and S4 described in S3 and are optimized
The optimization information is fed back to the normalized constraints and formalization theorem of S3, to normalized constraints and shape by information
Formula theorem optimizes, to continue the detection of subsequent cycle.
Preferably, software data collected, hardware data and environmental data are the data of different-format, pass through S1 data
Acquisition step is converted into the modeling language format of standardization.
Preferably, environment of the S2 mathematic sign formalization step to the software data of aircraft, hardware data and aircraft
Data carry out symbolism respectively, re-form unified formalization mathematical symbolism.
Preferably, S3 is formalized in mathematic sign detecting step, based on the normalized constraints and shape that this field is common
Formula theorem or the customized normalized constraints of user and formalization theorem detect formalization mathematic sign, examine
It surveys and whether there is the via Self-reconfiguration sequence of operation, form result information.
Preferably, the customized normalized constraints of user and formalization theorem include the theorem of this field and/or break
Speech.
Preferably, S4 self-reconstruction system feedback step carries out via Self-reconfiguration under the traction of adaptive strategy existence resolution principle
Operational sequence solve, the comparison of via Self-reconfiguration operating result and adaptive strategy under the conditions of service degradation determine.
Preferably, S5 self-reconstruction system Optimization Steps are used to optimize based on the reconfiguration information, to software optimization
Aspect, optimized by directly setting mechanism for correcting errors, in terms of to hardware optimization, by hardware redundancy mechanism carry out it is excellent
Change.
A kind of self-adapting reconstruction system of spacecraft, is used to execute above-mentioned self-adapting reconstruction method, the system packet
Include: data acquisition module is used to acquire the software data, hardware data and environmental data of aerocraft system；Mathematic sign shape
Formula module is equivalent to mathematical symbolism module, and collected software data, hardware data are converted into mathematic sign table
Show, environmental data is optimized and is converted into formalization mathematical symbolism；Mathematic sign detection module is formalized, model is equivalent to
Detection module, according to normalized constraints and formalization theorem, to being converted into formalizing in mathematics sign format module
The data code requirement constraint condition and formalization theorem of mathematic sign are detected, and detect whether that there are via Self-reconfigurations to operate sequence
Column form result information；Self-reconstruction system feedback module carries out self weight based on the result information and is configured to reconstruct letter
Breath, then by the reconfiguration information feed back to formalization mathematic sign detection module be used to adjust the normalized constraints and
Theorem is formalized, while sending self-reconstruction system optimization module for the reconfiguration information；Self-reconstruction system optimization module, is based on
The result information and the reconfiguration information form optimization information, and the optimization information is fed back to the standardization about
Beam condition and formalization theorem, optimize normalized constraints and formalization theorem, to continue the inspection of subsequent cycle
It surveys.
Preferably, software data collected, hardware data and environmental data are the data of different-format, are adopted by data
Collection module is converted into the modeling language format of standardization.
Preferably, mathematic sign formalizes module, is equivalent to mathematical symbolism module, to the software data of aircraft,
The environmental data of hardware data and aircraft carries out symbolism respectively, re-forms unified formalization mathematical symbolism.
Preferably, mathematic sign detection module is formalized, model checking module is equivalent to, based on the specification that this field is common
Change constraint condition and formalization theorem or the customized normalized constraints of user and formalization theorem to formalization mathematics
Symbol is detected, and detects whether to form result information there are the via Self-reconfiguration sequence of operation.
Preferably, the customized normalized constraints of user and formalization theorem include the theorem of this field and/or break
Speech.
Preferably, self-reconstruction system feedback module carries out via Self-reconfiguration under the traction of adaptive strategy existence resolution principle
Operational sequence solves, the comparison of via Self-reconfiguration operating result and the adaptive strategy under the conditions of service degradation determine.
Preferably, self-reconstruction system optimization module is used to optimize based on the reconfiguration information, to software optimization
Aspect is optimized by directly setting mechanism for correcting errors, in terms of to hardware optimization, is carried out by hardware redundancy mechanism excellent
Change.
The present invention goes out the mathematical model formalized according to the feature extraction of spacecraft, and the model describe space flights
The software-hardware synergism expression behaviour of device under various circumstances, at the same also describe system cope with the adaptive of improper situation and
Via Self-reconfiguration binding characteristic.In general, method of the invention embodies four program, hardware, environment and specification aspect phase interactions
With influencing each other, in the sequence of operation of software via Self-reconfiguration, extremely real simulation actual environment process can accomplish to send out
Existing problem and self-adapting reconstruction, it is ensured that the reliability of Hardware/Software Collaborative Design.
Detailed description of the invention
Fig. 1 is the self-adapting reconstruction method flow chart of spacecraft of the invention；
Fig. 2 is the self-adapting reconstruction system construction drawing of spacecraft of the invention.
Specific embodiment
The present invention is made with detailed description below in conjunction with drawings and examples:
As shown in Figure 1, the self-adapting reconstruction method of spacecraft includes: S1: data collection steps are used to acquire winged
Software data, hardware data and the environmental data of row device system；S2: mathematic sign formalizes step, by collected software
Data, hardware data are converted into mathematical symbolism, and environmental data is optimized and is converted into formalization mathematical symbolism；S3:
Formalize mathematic sign detecting step, according to normalized constraints and formalization theorem, to be converted into S2 formalization number
The data code requirement constraint condition and formalization theorem for learning symbol are detected, and detect whether that there are via Self-reconfigurations to operate sequence
Column form result information；S4: self-reconstruction system feedback step carries out self weight based on result information described in S3 and is configured to weight
Then the reconfiguration information is fed back to S3 and is used to adjust the normalized constraints and formalization theorem, simultaneously by structure information
Self-reconstruction system Optimization Steps are sent by the reconfiguration information；S5: self-reconstruction system Optimization Steps, based on result described in S3
Reconfiguration information described in information and S4 forms optimization information, and the optimization information is fed back to the normalized constraints and shape of S3
Formula theorem optimizes normalized constraints and formalization theorem, to continue the detection of subsequent cycle.
As shown in Fig. 2, the self-adapting reconstruction system of spacecraft, is used to execute above-mentioned self-adapting reconstruction method, it should
System includes: data acquisition module, is used to acquire the software data, hardware data and environmental data of aerocraft system；Mathematics
Sign format module is equivalent to mathematical symbolism module, and collected software data, hardware data are converted into mathematics
Symbol indicates, environmental data is optimized and is converted into formalization mathematical symbolism；Mathematic sign detection module is formalized, quite
In model checking module, according to normalized constraints and formalization theorem, to being converted into mathematics sign format module
The data code requirement constraint condition and formalization theorem for formalizing mathematic sign are detected, and detect whether that there are via Self-reconfigurations
The sequence of operation forms result information；Self-reconstruction system feedback module carries out self weight based on the result information and is configured to weight
Then the reconfiguration information is fed back to formalization mathematic sign detection module and is used to adjust the standardization constraint item by structure information
Part and formalization theorem, while self-reconstruction system optimization module is sent by the reconfiguration information；Self-reconstruction system optimization module,
Optimization information is formed based on the result information and the reconfiguration information, the optimization information is fed back into the specification
Change constraint condition and formalization theorem, normalized constraints and formalization theorem is optimized, to continue subsequent cycle
Detection.
In a preferred embodiment, method of the invention further include:
(1) tool model establishes input information (Hardware/Software Collaborative Design information):
Step 1: for different spacecrafts, its software design pattern structure (such as UML information) is imported into modeling
In tool.Step 2: hardware design logical message corresponding with software is imported into tool, and information includes sensor, number
According to bus, the relevant informations such as address bus.
Aforesaid way can guarantee that the spacecraft of various models is neatly made to carry out adapting to the tool.
(2) strict mathematical symbolism:
Step 1: formalized description is carried out to the software features (such as uml diagram) of software description, i.e., the stringent number of software
Learning symbol indicates.Step 2: formalization mathematical symbolism is similarly carried out to the logical message of hardware description, by above-mentioned biography
The hardware elements such as sensor switch to symbol mathematically.
Strict mathematical symbolism can make different Hardware/Software Collaborative Designs can be converted unified mathematics symbol
Number language, so as to realize the unified interface description of modeling.
(3) environment scene:
Spacecraft adaptively refers to that aircraft can spontaneously adapt to environment bring in different environments in fact
Unfavorable factor, therefore be not no concrete scene in the tool, the scene simulated in tool is generated according to software change
Change sequence indicates.In model inspection, the environment scene of simulation is exactly the path sequence that software itself can meet solution in fact
The verifying of column.
(4) standardization constraint:
This is setting of the determining tool itself to the standardization constraint requirements of model, and the core of model inspection exactly surrounds this
The normalized constraints that provide are carved to run.Common normalized constraints are carried in tool, user can also make by oneself
The relevant constraint condition of justice, such as theorem, assert and static analysis condition.
(5) model inspection:
On the basis of above-mentioned software and hardware mathematical symbolization, in conjunction with the scene mode and normalized constraints of setting.Work
Tool carries out Formal Modeling to above-mentioned data.The input of modeling is mathematic sign, and contextual data is for software and hardware data transition
The automatic machine change sequence of condition and relationship.Final expected result be acquire to poor environment reach can be adaptive original program
Via Self-reconfiguration behavior base collection.Model inspection is finally to see that software systems can be enable with the presence or absence of a kind of via Self-reconfiguration sequence of operation
The variation of adaptive targets environment；If there is this sequence, research executes the excellent determination method of program after sequence.
(6) adaptive and reconstruct:
For above-mentioned formation sequence result to determine whether needing via Self-reconfiguration software configuration.If necessary to adaptively lay equal stress on
Structure then carries out feedback to module of software and hardware part.
(7) feedback optimized mechanism:
Feedback is to carry out the optimization and upgrading to program and hardware on the basis of model inspection.Software is usually can be straight
Setting mechanism for correcting errors is connect, hardware then needs to optimize under the collaboration of software, such as hardware redundancy mechanism.
(8) modeling test again:
After above process completion, the software and hardware modeling detection of a new round is carried out.Spiral repeatedly in this way, until true
It protects all latent faults and all optimizes and finish, i.e., model can meet all normalized constraints.
Method of the invention is technically related to following several main aspects:
1) mathematical symbolism is formalized:
The expression behaviour of different spaces aircraft with different feature and environmental element mainly are switched to unite by the module
One mathematic sign language, to provide the language basis of standardization for subsequent model inspection.The stage is required to carve
Draw the ability to express of different classes of behavioural characteristic because spacecraft software generally include periodicity, event triggering, the time,
The extremely complex feature such as event.The degree of coupling for needing to have appropriate, that is, have composability and detachable property, it is ensured that it can
Safety and high efficiency when reconstruct.It needs to can adapt to different complexity with the ability to express for portraying multidimensional physical message
Environment, such as temperature, appropriateness, speed difference changing environment etc..In addition, as mathematic sign language, it is also necessary to pay attention to program and rule
The uniformity of model while the modeling language designed can portray program behavior, can describe the need followed required for program
Specification is sought, so as to realize in the way of programming etc., developer is facilitated to optimize.
2) model inspection:
Model inspection is to study the need whether current software and hardware meets setting on the mathematic sign information aggregate defined
Specification is sought, and calculates the place of uncertainty and non-reliability, so that feedback arrives reconstructed module.In this stage, need
The actual physical situation of software and hardware operation can be combined, the spacecraft in model is required to the continuous change of adaptive environment
Change, and make a response in time, itself is measured in real time and is verified.Meanwhile technical tool of the invention also supports foundation
Environment change and caused by standardize degrade, and prove reconstruct after software systems whether meet degradation specification.Among these
Include: the requirement profile order relation of Formal Modeling language describing system, i.e., formalizes mould using temporal logic, Hoare logic etc.
Definition Model is refined relationship on the basis of type, so as to the item of satisfaction needed for realizing software and hardware using this requirement profile order relation
The priority ranking of part；The research of Model Validation Technology: Unified Modeling Language is utilized, portrays the intercommunication of model from different perspectives
Property, binding model purification techniques can verify that whether procedural model meets normative model；Automatic verification method research and development, i.e., in high-order
On the basis of Program Semantics, refined principle implementation model automatic Verification using semantic equivalence, semanteme.The result of this module will
Foundation as next phase analysis and optimization.
3) restructuring analysis strategy:
The major function of restructuring analysis is that errors repair, the optimization such as error checking are carried out to the result of model checking module.
Adaptive strategy based on via Self-reconfiguration is the key that realize high believable vehicle technology.In the present invention, which is mainly used
The operational sequence solution of via Self-reconfiguration, the ratio of via Self-reconfiguration operating result are carried out under the traction of adaptive strategy existence resolution principle
Compared with and service degradation under the conditions of adaptive strategy determine.Adaptive strategy existence resolution principle is to find out that there are a kind of plans
Given software and hardware slightly may make to implement via Self-reconfiguration operational set based on source program in specified criteria, so that in new environment
Meet the functional requirement and codes and standards of original software under scene.
4) system model optimizes:
Model checking method is in addition to that can enable spacecraft carry out software and hardware self-adaptive and self weight from the angle of formalization
Except structure, Optimal Parameters can also be provided for developer.In the module, model checking tools can provide soft reconstructed operation sequence
Optimum solution, be based on such sequence, study its implementation procedure, to developer determine and improve system stability have greatly
Positive effect accomplish safety and stability so as to just pass through optimization from system construction phase.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention answers the protection model with claim
Subject to enclosing.
Claims (8)
1. a kind of self-adapting reconstruction method of spacecraft, includes the following steps:
S1: data collection steps are used to acquire the software data, hardware data and environmental data of aerocraft system；
S2: mathematic sign formalizes step, and collected software data, hardware data are converted into mathematical symbolism, will
Environmental data optimizes and is converted into formalization mathematical symbolism；
S3: formalization mathematic sign detecting step, according to normalized constraints and formalization theorem, to being converted into shape in S2
The data of formula mathematic sign are detected, and detect whether to form result information there are the via Self-reconfiguration sequence of operation；
S4: self-reconstruction system feedback step carries out self weight based on result information described in S3 and is configured to reconfiguration information, then will
The reconfiguration information feeds back to S3 for adjusting the normalized constraints and formalization theorem, while by the reconfiguration information
It is sent to self-reconstruction system Optimization Steps；
S5: self-reconstruction system Optimization Steps form optimization information based on reconfiguration information described in result information and S4 described in S3,
The optimization information is fed back to the normalized constraints and formalization theorem of S3, it is fixed to normalized constraints and formalization
Reason optimizes, to continue the detection of subsequent cycle.
2. the self-adapting reconstruction method of spacecraft as described in claim 1, which is characterized in that software number collected
It is the data of different-format according to, hardware data and environmental data, the modeling language of standardization is converted by S1 data collection steps
Say format.
3. the self-adapting reconstruction method of spacecraft as described in claim 1, which is characterized in that the formalization of S2 mathematic sign
Step carries out symbolism to the environmental data of the software data of aircraft, hardware data and aircraft respectively, re-forms unification
Formalize mathematical symbolism.
4. the self-adapting reconstruction method of spacecraft as described in claim 1, which is characterized in that S3 formalizes mathematic sign
In detecting step, formalization mathematic sign is examined based on the customized normalized constraints of user and formalization theorem
It surveys, detects whether to form result information there are the via Self-reconfiguration sequence of operation.
5. the self-adapting reconstruction method of spacecraft as claimed in claim 4, which is characterized in that the customized specification of user
Change constraint condition and formalization theorem includes the theorem of this field and/or asserts.
6. the self-adapting reconstruction method of spacecraft as described in claim 1, which is characterized in that S4 self-reconstruction system feedback
Step carries out the operational sequence solution of via Self-reconfiguration, via Self-reconfiguration operating result under the traction of adaptive strategy existence resolution principle
Comparison and service degradation under the conditions of adaptive strategy determine.
7. the self-adapting reconstruction method of spacecraft as described in claim 1, which is characterized in that the optimization of S5 self-reconstruction system
Step is used to optimize based on the reconfiguration information, in terms of to software optimization, is carried out by directly setting mechanism for correcting errors
Optimization, in terms of to hardware optimization, is optimized by hardware redundancy mechanism.
8. a kind of self-adapting reconstruction system of spacecraft is used for adaptive described in any one of perform claim requirement 1-7
Reconstructing method is answered, which includes:
Data acquisition module is used to acquire the software data, hardware data and environmental data of aerocraft system；
Mathematic sign formalizes module, is equivalent to mathematical symbolism module, and collected software data, hardware data are turned
It changes mathematical symbolism into, environmental data is optimized and is converted into formalization mathematical symbolism；
Mathematic sign detection module is formalized, model checking module is equivalent to, it is fixed according to normalized constraints and formalization
Reason detects the data code requirement constraint condition and formalization theorem that are converted into formalization mathematic sign in S2, examines
It surveys and whether there is the via Self-reconfiguration sequence of operation, form result information；
Self-reconstruction system feedback module carries out self weight based on the result information and is configured to reconfiguration information, then will be described
Reconfiguration information feeds back to formalization mathematic sign detection module for adjusting the normalized constraints and formalization theorem, together
When by the reconfiguration information send self-reconstruction system optimization module；
Self-reconstruction system optimization module forms optimization information based on the result information and the reconfiguration information, will be described
Optimization information feeds back to the normalized constraints and formalization theorem, to normalized constraints and formalization theorem into
Row optimization, to continue the detection of subsequent cycle.
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| CN104462205A (en) * | 2014-11-03 | 2015-03-25 | 南京信息工程大学 | Self-adaptive manufacturing system organizing method based on dynamic knowledge network |
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| CN102556341A (en) * | 2011-12-05 | 2012-07-11 | 北京航空航天大学 | Group flying robot with distribution and self-assembly characteristics |
| CN104462205A (en) * | 2014-11-03 | 2015-03-25 | 南京信息工程大学 | Self-adaptive manufacturing system organizing method based on dynamic knowledge network |
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