CN101609329A - A kind of high-performance tri-redundancy steering engine based on single-channel dual-processor structure - Google Patents
A kind of high-performance tri-redundancy steering engine based on single-channel dual-processor structure Download PDFInfo
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Abstract
The invention belongs to the servocontrol field, realized a kind of high-performance tri-redundancy steering engine based on single-channel dual-processor structure, relating to high speed numerical processor (DSP) is embedded type control module and the redundant configuration and the Managed Solution of core.Its single channel hardware mainly comprises: preceding level processor (FCP) 09, secondary processor (SCP) 10, fault isolation module 21, LVDT displacement transducer 18, current sensor 24, pressurized strut 20, data cross transmission passage (CCDL) 23 etc.Compare with the rudder circuit pattern of traditional flight control computer+actuator, the present invention has alleviated the workload that flies the machine of controlling, and rudder face closed-loop control and redundancy management task are encapsulated into redundancy actuator inside and finish, and has eliminated the performance coupling that flies between control machine and the steering wheel.By adopting many ring controls, dual processor is monitored mutually, and strategies such as data cross transmission have effectively improved the control performance and the reliability of steering wheel.
Description
Technical field
The invention belongs to the electromechanical servo control technology, relate to a kind of high-performance tri-redundancy steering engine of single-channel dual-processor structure.
Background technology
Servo actuating system is the execution unit of flight control system, is used to realize the position control of vehicle rudder, is one of important subsystem of forming flight control system.Development high-performance, highly reliable servo steering wheel have significance for the performance that improves servo actuating system and even whole flight control system.
Making full use of digital processing technology and redundancy, develop to modularization, intellectuality and high reliability direction, is the inexorable trend of flight start control.At present, redundancy actuator has obtained widespread use, and common structure is to be core with the flight control computer, gathers the aircraft current state, calculates the steering wheel control signal, and exports to redundancy actuator, and simultaneously, flight control computer is also being undertaken the monitoring management task of redundancy actuator.The shortcoming that this rudder loop structure exists is:
Performance requirement harshness to flight control computer.Fly the control machine and need consume control law calculating and the redundancy management that ample resources is used for actuating system, and start control only is to fly one of many flight management tasks of control machine.
The performance coupling that flies control machine and steering wheel is strong.The variation of steering wheel performance parameter or configuration must cause flying to control the modification of machine software and hardware, and is same, flies to control the variation of machine parameter, also can influence the performance of steering wheel performance, can't realize the modularization of steering wheel.
The present invention is in the single channel of redundancy actuator, share motion control and redundancy management task with the even numbers word processor, constitute high-performance tri-redundancy steering engine, alleviated on the one hand and flown to control the machine burden, improve the control performance and the reliability of steering wheel on the other hand, really realized the modularization, integrated of redundancy actuator.
Summary of the invention
The objective of the invention is: a kind of compact conformation is provided, can independently finishes the high-performance tri-redundancy steering engine of servocontrol and redundancy management task.
Technical scheme of the present invention is: take the three remainings configuration based on single-channel dual-processor structure, each remaining passage mainly comprises on hardware: prime processor controls (FCP) 09, secondary processor controls (SCP) 10, fault isolation module 21, LVDT position transducer 18, current sensor 24, pressurized strut 20, data cross transmission passage (CCDL) 23 etc.Prime processor controls (FCP) and secondary processor controls (SCP) is characterized in that: prime processor controls 09 and secondary processor controls 10 are integrated in steering wheel inside, adopt the DSP digit chip.Preceding level processor accepts to fly the signal of control machine 04 and LVDT sensor 18, forms voting/control surface, finishes redundancy management and data allocations task; Secondary processor is gathered status signals such as electric current, speed, displacement, finishes many ring feedback motion control rules and calculates, and sends final steering order to actuator.Dual processor passes through two-port RAM 11 communications, and monitors the other side's duty in real time, makes single channel possess certain monitoring certainly (BIT) ability, gives security for total system reaches secondary failure operate as normal (FO/FO/FS).Data cross transmission passage and fault isolation module, it is characterized in that: carry out the mutual of each interchannel information, finish voting monitoring, fault diagnosis and isolation in steering wheel inside, realized the utonomous working of steering wheel, reduced the performance coupling that flies between control machine and the redundancy actuator to greatest extent.Steering wheel encircles feedback motion control rule more, it is characterized in that: be followed successively by the servo-valve current regulator from the inside to the outside, steering wheel speed control ring, steering wheel position control ring.Many ring control strategies help interference volume is in time compensated, eliminates in interior ring, avoid that output impacts to outer shroud; Help improving system stiffness; The higher response speed of interior ring that can give is improved steering wheel overall dynamics characteristic.
Compare with conventional redundancy actuator, this steering wheel can independently be finished servocontrol and redundancy management task, has very high control performance and reliability, has simplified steering wheel and the interface that flies the machine of controlling, and has realized that servo start is integrated.
Description of drawings
Fig. 1 is the high-performance tri-redundancy steering engine structure principle chart.
Fig. 2 is the single channel structure principle chart.
Embodiment
High-performance tri-redundancy steering engine should be finished two tasks: closed loop servo control and self redundancy management.Respectively its workflow is elaborated below.
With the single channel closed-loop control is example, and flight-control computer 04 will fly the control instruction by 1553B bus (also can be the bus or the communication modes of other form) and send into prime dsp processor 09; Preceding level processor is passed to it secondary processor 10 again by two-port RAM 11.Secondary processor utilizes A/D converter 14 to gather the pressurized strut displacement signal simultaneously, and pressurized strut rate signal and servo-valve current signal carry out the FEEDBACK CONTROL of position ring, speed ring and electric current loop and calculate, and final controlled quentity controlled variable is by D/A converter 07 output.Driving circuit 15 converts the D/A voltage signal drive current of servo-valve 16 to, control pressurized strut 20 motions.Three passage synchronous workings through the comprehensive rear drive vehicle rudder of power, are finished servo start.
For realizing redundancy management, LVDT sensor 18 detects the output displacement of this passage pressurized strut 20, after demodulation filtering circuit 22 is handled, enters preceding level processor by A/D converter 13 collections.Preceding level processor is issued other two passage by CCDL intersection data transmission channel 23 with this channel position signal.The pressurized strut displacement that the preceding level processor of each passage all can three passages of perception like this, and judged whether channel abnormal by voting/control surface separately.Three remaining voting/control surfaces can detect the primary fault of system effectively, and when secondary failure takes place (data separating appears in two remaining passages), voting/control surface is just powerless.In this case, need passage to have from monitoring (BIT) ability.Among the present invention, the preceding level processor of each passage and secondary processor power on the back just according to default agreement in start, constantly read and write certain specific region of two-port RAM 11, if one of them processor breaks down, another processor energy quick identification, concurrent passage oneself isolation signals.In addition, the microswitch 19 of actuator can be experienced the synchronous situation of motion, detects the mechanical fault of this passage and informs processor.The prime of each passage and secondary processor all can be sent to isolation module 21 and isolate request.Isolation module to dual processor please ask for or, by solenoid valve 17 isolated fault passages.By triple channel monitoring/voting and the mutual monitoring strategies of single-channel dual-processor, can make tri-redundancy steering engine reach the reliability level of secondary failure operate as normal (FO/FO/FS).
Claims (4)
1, a kind of high-performance tri-redundancy steering engine based on single-channel dual-processor structure is characterized in that:
Constitute by three redundancy actuator controllers 02 and three redundancy actuators 03.The hardware of each remaining passage comprises: prime processor controls (FCP) 09, secondary processor controls (SCP) 10, fault isolation module 21, LVDT position transducer 18, current sensor 24, pressurized strut 20, data cross transmission passage (CCDL) 23 etc.
2, prime processor controls according to claim 1 (FCP) and secondary processor controls (SCP) is characterized in that:
Prime processor controls 09 and secondary processor controls 10 are integrated in steering wheel inside, adopt the high-speed dsp digit chip.Preceding level processor accepts to fly the signal of control machine 04 and LVDT sensor 18, forms voting/control surface, finishes redundancy management and data allocations task; Secondary processor is gathered status signals such as electric current, speed, displacement, finishes many ring feedback motion control rules and calculates, and sends final steering order to actuator.Dual processor passes through two-port RAM 11 communications, and monitors the other side's duty in real time, makes single channel possess certain monitoring certainly (BIT) ability, gives security for total system reaches secondary failure operate as normal (FO/FO/FS).
3, data cross transmission passage according to claim 1 (CCDL) and fault isolation module is characterized in that:
Can be under the situation that does not have flight control computer to participate in, carry out the mutual of each interchannel information, finish voting monitoring, fault diagnosis and isolation in steering wheel inside, realized the utonomous working of steering wheel, reduced the performance coupling that flies between control machine and the redundancy actuator to greatest extent.
4, steering wheel according to claim 2 encircles feedback motion control rule more, it is characterized in that:
Be followed successively by the servo-valve current regulator from the inside to the outside, steering wheel speed control ring, steering wheel position control ring.Many ring control strategies help interference volume is in time compensated, eliminates in interior ring, avoid that output impacts to outer shroud; Help improving system stiffness; The higher response speed of interior ring that can give is improved steering wheel overall dynamics characteristic.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2008101152222A CN101609329B (en) | 2008-06-19 | 2008-06-19 | High-performance tri-redundancy steering engine based on single-channel dual-processor structure |
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| CN2008101152222A CN101609329B (en) | 2008-06-19 | 2008-06-19 | High-performance tri-redundancy steering engine based on single-channel dual-processor structure |
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| CN101609329A true CN101609329A (en) | 2009-12-23 |
| CN101609329B CN101609329B (en) | 2013-04-03 |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102130722A (en) * | 2011-03-01 | 2011-07-20 | 南京航空航天大学 | Cross channel (CH) data link system of fly-by-light flight control system |
| CN102700706A (en) * | 2012-05-31 | 2012-10-03 | 西北工业大学 | Dual-redundancy actuator system and control method |
| CN103838230A (en) * | 2014-03-11 | 2014-06-04 | 南京景曜智能科技有限公司 | Digital steering engine control system with scalable redundancy and shaft number and breakdown switching method |
| CN104049638A (en) * | 2014-06-19 | 2014-09-17 | 金陵科技学院 | Dynamic-actuator aircraft attitude distributed type fault-tolerant control system |
| CN104615140A (en) * | 2015-02-17 | 2015-05-13 | 北京精密机电控制设备研究所 | Electromechanical servo system for aerodynamic control |
| CN105523174A (en) * | 2014-09-28 | 2016-04-27 | 中国航空工业集团公司西安飞机设计研究所 | Integrated control valve assembly-actuating cylinder separated hydraulic servo actuator |
| CN104122896B (en) * | 2013-04-24 | 2017-03-29 | 成都飞机设计研究所 | A kind of unmanned vehicle flight control system architectural framework based on TTP/C buses |
| CN106773996A (en) * | 2017-01-11 | 2017-05-31 | 上海未来伙伴机器人有限公司 | Integrated and steering wheel the control method of a kind of steering wheel, steering wheel |
| CN109240074A (en) * | 2018-08-02 | 2019-01-18 | 中国航空工业集团公司西安飞行自动控制研究所 | A kind of active and standby work switching method of actuator of double redundancy control mode |
| CN112346331A (en) * | 2020-11-18 | 2021-02-09 | 西安爱生技术集团公司 | Channel selection method of three-redundancy flight control computer |
| CN112506035A (en) * | 2020-11-03 | 2021-03-16 | 中国航空工业集团公司西安航空计算技术研究所 | Synchronization system of actuator control computer |
| CN112526979A (en) * | 2020-12-16 | 2021-03-19 | 中国兵器装备集团自动化研究所 | Serial communication interface diagnosis system and method of multiple redundancy architecture |
| CN112644690A (en) * | 2020-11-05 | 2021-04-13 | 中国航空工业集团公司西安航空计算技术研究所 | Data cross transmission system of actuator control computer |
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| US3551776A (en) * | 1968-10-01 | 1970-12-29 | Bendix Corp | Triple redundant servo flight control including digital resynchronization of channels,detection of failed channels,and voted output |
| US4521707A (en) * | 1983-12-12 | 1985-06-04 | The Boeing Company | Triple redundant electromechanical linear actuator and method |
| US5515282A (en) * | 1994-04-25 | 1996-05-07 | The Boeing Company | Method and apparatus for implementing a databus voter to select flight command signals from one of several redundant asynchronous digital primary flight computers |
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2008
- 2008-06-19 CN CN2008101152222A patent/CN101609329B/en not_active Expired - Fee Related
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102130722B (en) * | 2011-03-01 | 2014-04-23 | 南京航空航天大学 | Cross channel (CH) data link system of fly-by-light flight control system |
| CN102130722A (en) * | 2011-03-01 | 2011-07-20 | 南京航空航天大学 | Cross channel (CH) data link system of fly-by-light flight control system |
| CN102700706A (en) * | 2012-05-31 | 2012-10-03 | 西北工业大学 | Dual-redundancy actuator system and control method |
| CN104122896B (en) * | 2013-04-24 | 2017-03-29 | 成都飞机设计研究所 | A kind of unmanned vehicle flight control system architectural framework based on TTP/C buses |
| CN103838230A (en) * | 2014-03-11 | 2014-06-04 | 南京景曜智能科技有限公司 | Digital steering engine control system with scalable redundancy and shaft number and breakdown switching method |
| CN103838230B (en) * | 2014-03-11 | 2016-04-06 | 南京景曜智能科技有限公司 | The failure switching method of the digital rudder controller control system of a kind of extendible redundance and the number of axle |
| CN104049638A (en) * | 2014-06-19 | 2014-09-17 | 金陵科技学院 | Dynamic-actuator aircraft attitude distributed type fault-tolerant control system |
| CN105523174B (en) * | 2014-09-28 | 2017-10-31 | 中国航空工业集团公司西安飞机设计研究所 | A kind of door cylinder separation type hydraulic servo actuator |
| CN105523174A (en) * | 2014-09-28 | 2016-04-27 | 中国航空工业集团公司西安飞机设计研究所 | Integrated control valve assembly-actuating cylinder separated hydraulic servo actuator |
| CN104615140A (en) * | 2015-02-17 | 2015-05-13 | 北京精密机电控制设备研究所 | Electromechanical servo system for aerodynamic control |
| CN106773996A (en) * | 2017-01-11 | 2017-05-31 | 上海未来伙伴机器人有限公司 | Integrated and steering wheel the control method of a kind of steering wheel, steering wheel |
| WO2018129799A1 (en) * | 2017-01-11 | 2018-07-19 | 上海未来伙伴机器人有限公司 | Steering engine, integration of steering engine, and control method for steering engine |
| CN109240074A (en) * | 2018-08-02 | 2019-01-18 | 中国航空工业集团公司西安飞行自动控制研究所 | A kind of active and standby work switching method of actuator of double redundancy control mode |
| CN109240074B (en) * | 2018-08-02 | 2021-07-16 | 中国航空工业集团公司西安飞行自动控制研究所 | Method for switching main and standby work of actuator in dual-redundancy control mode |
| CN112506035A (en) * | 2020-11-03 | 2021-03-16 | 中国航空工业集团公司西安航空计算技术研究所 | Synchronization system of actuator control computer |
| CN112644690A (en) * | 2020-11-05 | 2021-04-13 | 中国航空工业集团公司西安航空计算技术研究所 | Data cross transmission system of actuator control computer |
| CN112644690B (en) * | 2020-11-05 | 2023-10-20 | 中国航空工业集团公司西安航空计算技术研究所 | Data cross transmission system of actuator control computer |
| CN112346331A (en) * | 2020-11-18 | 2021-02-09 | 西安爱生技术集团公司 | Channel selection method of three-redundancy flight control computer |
| CN112346331B (en) * | 2020-11-18 | 2022-11-18 | 西安爱生技术集团公司 | Channel selection method of three-redundancy flight control computer |
| CN112526979A (en) * | 2020-12-16 | 2021-03-19 | 中国兵器装备集团自动化研究所 | Serial communication interface diagnosis system and method of multiple redundancy architecture |
| CN112526979B (en) * | 2020-12-16 | 2023-06-09 | 中国兵器装备集团自动化研究所 | Serial communication interface diagnosis system and method with multiple redundancy architecture |
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