CN101609329B - High-performance tri-redundancy steering engine based on single-channel dual-processor structure - Google Patents
High-performance tri-redundancy steering engine based on single-channel dual-processor structure Download PDFInfo
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- CN101609329B CN101609329B CN2008101152222A CN200810115222A CN101609329B CN 101609329 B CN101609329 B CN 101609329B CN 2008101152222 A CN2008101152222 A CN 2008101152222A CN 200810115222 A CN200810115222 A CN 200810115222A CN 101609329 B CN101609329 B CN 101609329B
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Abstract
The invention belongs to the field of servocontrol, realizes a high-performance tri-redundancy steering engine based on a single-channel dual-processor structure, and relates to an embedded type control module taking a high-speed digital processor (DSP) as a core and a redundant configuration and a management proposal thereof. The single-channel hardware of the steering engine mainly comprises a forestage processor (FCP) 09, a secondary processor (SCP) 10, a fault isolation module 21, an LVDT displacement sensor 18, a current sensor 24, an actuating cylinder 20, a data cross transmission channel (CCDL) 23, and the like. Compared with the prior steering loop mode comprising a flight control computer and an actuator, the high-performance tri-redundancy steering engine reduces the workload of a flight control computer and completes control plane closed-loop control and redundancy management task inside the redundancy steering engine, thereby eliminating performance coupling between the flight control computer and the steering engine. Moreover, by adopting strategies such as multi-loop control, dual-processor mutual monitoring and data cross transmission, the steering engine effectively improves control performance and reliability.
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
Servoactuation system is the execution unit of flight control system, is used for realizing the position control of vehicle rudder, is one of important subsystem that forms flight control system.Development high-performance, highly reliable Servo-controller are for the performance important in inhibiting that improves servoactuation system and even whole flight control system.
Taking full advantage of digital processing technology and redundancy, to modularization, intellectuality and high reliability future development, is the inexorable trend of flight start control.At present, redundancy actuator has obtained widespread use, and common structure is take flight control computer as core, 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 to flight control computer is harsh.Fly the control machine and need to 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 affect 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 Double-number processor, consist of high-performance tri-redundancy steering engine, alleviated on the one hand and flown to control the machine burden, improve on the other hand control performance and the reliability of steering wheel, 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 control processor (FCP) 09, secondary control processor (SCP) 10, fault isolation module 21, LVDT position transducer 18, current sensor 24, pressurized strut 20, data cross transmission passage (CCDL) 23 etc.Prime control processor (FCP) and secondary control processor (SCP) is characterized in that: prime control processor 09 and secondary control processor 10 are integrated in steering wheel inside, adopt the DSP digit chip.Front 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 gathers the 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 is by two-port RAM 11 communications, and Real Time Monitoring the other side duty, makes single channel possess certain certainly monitoring (BIT) ability, gives security for whole system reaches secondary failure normal operation (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 to greatest extent the performance coupling that flies between control machine and the redundancy actuator.Steering wheel encircles feedback motion control rule more, it is characterized in that: be followed successively by from the inside to the outside the servo-valve current regulator, steering wheel speed control loop, steering wheel position control ring.Many ring control strategies are conducive to interference volume is in time compensated, eliminates in interior ring, avoid that output impacts to outer shroud; Be conducive to improve 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.The below elaborates to its workflow respectively.
Take the single channel closed-loop control as example, flight-control computer 04 will fly to control instruction by 1553B bus (also can be bus or the communication modes of other form) and send into prime dsp processor 09; Front level processor is passed to it secondary processor 10 again by two-port RAM 11.Secondary processor utilizes A/D converter 14 to gather simultaneously the pressurized strut displacement signal, 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 Channel Synchronous work 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 processed, enters front level processor by A/D converter 13 collections.Front 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 front 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 occurs (data separating appears in two remaining passages), voting/control surface is just helpless.In this case, need passage to have from monitoring (BIT) ability.Among the present invention, the front level processor of each passage and secondary processor just according to default agreement, are are constantly read and write certain specific region of two-port RAM 11, if one of them processor breaks down after start powers on, another processor can be identified fast, 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 the isolation request to isolation module 21.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 normal operation (FO/FO/FS).
Claims (4)
1. high-performance tri-redundancy steering engine based on single-channel dual-processor structure is characterized in that:
Consisted of by three redundancy actuator controllers 02 and three redundancy actuators 03, the hardware of each remaining passage comprises: prime control processor (FCP) 09, secondary control processor (SCP) 10, fault isolation module 21, LVDT position transducer 18, current sensor 24, pressurized strut 20, data cross transmission passage (CCDL) 23.
2. the high-performance tri-redundancy steering engine based on single-channel dual-processor structure according to claim 1, prime control processor (FCP) 09 and secondary control processor (SCP) 10 are integrated in steering wheel inside, adopt the high-speed dsp digit chip, the prime control processor is accepted the signal of flight control computer 04 and LVDT position transducer 18, form voting/control surface, finish redundancy management and data allocations task, secondary control processor gathers electric current, speed, the status signals such as displacement, finish the calculating that steering wheel encircles feedback motion control rule more, send final steering order to actuator, dual processor is by two-port RAM 11 communications, and Real Time Monitoring the other side duty, make single channel possess certain certainly monitoring (BIT) ability, give security for whole system reaches secondary failure normal operation (FO/FO/FS).
3. the high-performance tri-redundancy steering engine based on single-channel dual-processor structure according to claim 1, described data cross transmission passage (CCDL) 23 and fault isolation module 21 can be in the situations 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, realize the utonomous working of steering wheel, reduced to greatest extent the performance coupling between flight control computer and the redundancy actuator.
4. the high-performance tri-redundancy steering engine based on single-channel dual-processor structure according to claim 2, described steering wheel encircles feedback motion control rule more and is followed successively by from the inside to the outside the servo-valve current regulator, steering wheel speed control loop, steering wheel position control ring, many ring control strategies are conducive to interference volume is eliminated in interior ring, avoid that output impacts to outer shroud, are conducive to improve system stiffness, can give interior ring higher response speed, improve steering wheel overall dynamics characteristic.
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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 CN101609329A (en) | 2009-12-23 |
| CN101609329B true CN101609329B (en) | 2013-04-03 |
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Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| 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 |
| 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 |
| CN104049638B (en) * | 2014-06-19 | 2017-01-04 | 金陵科技学院 | The attitude of flight vehicle distributing fault-tolerant control system of Actuator dynamic |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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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