CN102736630A - Triplex redundancy-based realization method for fly-by-light fight control system - Google Patents
Triplex redundancy-based realization method for fly-by-light fight control system Download PDFInfo
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Abstract
The invention, which belongs to the digital control technology and flight control field, relates to a triplex redundancy-based realization method for a fly-by-light fight control system. According to the invention, three-level voting/monitoring modules are arranged, wherein the three-level voting/monitoring modules includes monitors and voters; optical signals of the sensors are converted into electrical signals that then enter voting/monitoring modules at the input terminals of computers; after flight control law calculation, the processed signals pass through the voting/monitoring modules at output terminals of the computers and then enter servers; and when the electrical signals pass through the voting/monitoring modules, the monitors remove fault channels and the voters select output from residual signals. Beneficial effects of the realization method are as follows: monitoring and fault positioning can be carried out conveniently, faults can be shielded effectively, and a dispersion degree of an inputted signal can be reduced; besides, the realization method with strong flexibility and less hardware enables the computers to work synchronously.
Description
Technical field
The present invention relates to the implementation method that a kind of light based on three remainings passes flight control system, belong to digital control technology and flight control field.
Background technology
Along with the raising that aeroplane performance is required, digital control technology has been widely used in flight control system.Digital control system has plurality of advantages simultaneously; Little, in light weight like volume, higher failure checking cover ratio is provided, can eliminates the tolerance accumulation, provides perfect signal to select and performance monitoring with less hardware, and design have very strong dirigibility, revise convenient and easy etc.But the digital control system failure rate is higher, and general single channel digital control loop is difficult to satisfy the requirement of aircraft reliability.In order to realize the safe reliability of flight control system, except managing to reduce the failure rate of component itself, under existence conditions, an important approach adopts redundancy technology exactly.
Redundancy technology is also referred to as fault-tolerant technique sometimes, is a kind of automatic shielding fault that has, the parts of excision fault, even have the technology of fault recovery function, and the one or many fault appears in its permission system.Redundancy technology generally can roughly be divided into following three types: hardware remaining, software remaining, time remaining.This shows that redundancy technology mainly is exactly to utilize multiple hardware or software to exchange higher reliability and fault freedom for.The remaining system can be divided into parallel connection, series connection, backup (promptly a system works, and other system is in SBR, so that use when breaking down) etc. with working method; Can be divided into two remainings, three remainings, four remainings etc. with number of active lanes; Add various failure monitoring scheme; Therefore the type that combines is a lot; The redundancy technology that is adopted at present can be divided into three kinds substantially, and the relation between its fault adaptation level and the redundancy architecture is: " single fault-safety " formula → two remaining systems; " single fault-work " formula → three remaining systems and " two faults-work " formula → four remaining systems.
Generally speaking, the remaining system has following characteristics:
(1) same remaining number is taked different way to manage (these way to manages are mainly confirmed by the technical conditions that can reach), just can obtain different reliability;
(2) under identical redundancy management mode, the remaining number is big more, and then the failure probability of system is just more little, and the safe reliability index that can reach is also just many more;
(3) mainly by the decision of remaining number, in general, if do not take special measure, then the remaining number is many more for the reliability of task, and the reliability of task is just poor more.This is because the remaining number is many more, and corresponding number of components is also just many more, and the probability that breaks down is also just big more.Therefore in a sense, redundancy management is just managed the high failure rate with system unit, exchanges the high reliability of total system for.
Based on explanation to the ultimate principle of redundancy technology.Designer's task is exactly that remaining number with minimum satisfies required reliability and fault-tolerant index.
In distributed three remaining flight control systems, have two kinds of methods of synchronization, a kind of clock synchronization that is called also is called little frame synchronization; Another kind is called tasks synchronization; Also be called big frame synchronization; Big frame is a big duty cycle; Generally comprise more than one little frame, each little frame task all will be carried out clock synchronization after accomplishing, and the purpose of clock synchronization is to guarantee that each computing machine is put at one time to begin a little frame job; But only there is clock synchronization can't guarantee to do identical work in each computing machine at one time; The purpose that therefore big frame synchronization is set is exactly to guarantee that each computing machine goes to accomplish identical little frame work in two clock synchronizations intervals of same task, and the specific algorithm of tasks synchronization is: this passage is delivered to other computing machine with residing duty cycle of current computer and little frame number through the intersection transmission link, receives the identical data that other computing machine transmits simultaneously; Then these data are compared each other, thereby judge whether each computing machine is in the tasks synchronization state.
Aircraft and each function system thereof all have two important reliability indexs, i.e. aircraft safety reliability and mission reliability.Flight control system is used the quantitative target of failure rate as flight safety reliability and mission reliability usually.The configuration of remaining scheme mainly is according to the requirement to security of system reliability and mission reliability, and fault-tolerant index and existing technological means in the cards are confirmed.
Summary of the invention
Technical matters to be solved by this invention is the deficiency to the above-mentioned background technology, and a kind of implementation method that passes flight control system based on the light of three remainings is provided.
The present invention adopts following technical scheme for realizing the foregoing invention purpose:
A kind of light based on three remainings passes the implementation method of flight control system, comprises the steps:
Step 1 is set up light and is passed flight control system three remaining systems;
Step 3 adopts computing machine that the electric signal of sensor output is striden channel monitoring, signal voting, carries out Flight Control Law according to said electric signal then and calculates, and the electric signal after calculating is striden channel monitoring, signal voting once more;
Step 4, computing machine will be passed through step 3 processed electrical signals and transferred to servomechanism and carry out servocontrol.
Further; Light based on three remainings of the present invention passes in the implementation method of flight control system; The described light biography flight control system three remaining systems that set up of step 1 comprise sensor, computing machine, the servomechanism that connects successively through optical fiber, and wherein input end and computer and output terminal are provided with two voting/monitoring modules respectively;
Wherein sensor signal is sent into computing machine through optical fiber after the electric light conversion, carries out being sent to servomechanism after the data processing through computing machine;
Wherein voting/monitoring module comprises watch-dog, voting machine;
Said watch-dog is used for monitoring and excising the faulty channel of electric signal;
Said voting machine is used for residual electricity signal after the watch-dog excision and chooses and export servomechanism to.
Further, the light based on three remainings of the present invention passes in the implementation method of flight control system, and the described synchronization waiting algorithm of step 2 is specially:
Every computing machine all is provided with synchronous mark, its set is represented to be in synchronous regime, resetting then, expression is in asynchronous regime;
When a certain computing machine gets into when synchronous, at first with its synchronous mark set, read the synchronous mark of other computing machine then, if in the time that allows, detect the synchronous mark set of other each machine, then expression is normal synchronously.
Further; Light based on three remainings of the present invention passes in the implementation method of flight control system; The described channel monitoring method of striding of step 3 is specially: adopt watch-dog to compare the input of the input of each passage and rest channels; Get its difference as the monitoring foundation, when the difference of a passage and rest channels all greater than threshold value, then think this passage also disengagement failure passage that breaks down.
Further; Light based on three remainings of the present invention passes in the implementation method of flight control system; The described signal means of voting of step 3 is specially: choose the output signal in the signal that adopts voting machine never to be excised; Difference according to signal number forms the various output signal combination of choosing, and the value of choosing or the two kinds of methods of averaging are adopted in the signal voting.
The present invention adopts technique scheme, has following beneficial effect:
Adopt three remaining systems and simply stride passage comparison method for supervising and can monitor very easily and fault location; The signal list annual reporting law that voting machine adopts can not only effectively shield fault, but also can reduce the dispersion degree of input signal; The wait synchronized algorithm dirigibility that system adopts is strong, and required support hardware is few, can make computer operation in synchronous regime.Take all factors into consideration mission reliability, the failure probability of aircraft, the complexity of system; Power consumption; The complexity of cost and Systems Redundancy Management and software confirms that at last light passes flight control system three remaining implementation method structural arrangements, can satisfy the requirement of safe reliability and mission reliability.
Description of drawings
Fig. 1 is that light of the present invention passes flight control system three remaining implementation method structural arrangements conceptual schemes, and symbol description among the figure:
is voting/watch-dog.
Fig. 2 be light of the present invention pass voting/monitoring plane that flight control system three remaining implementation method structural arrangements adopt figure, symbol description among the figure: the voting/control surface of a computing machine input quantity be set; Voting/the control surface of b computing machine output data; C servomechanism control surface.
Fig. 3 is the process flow diagram that light of the present invention passes the synchronized algorithm of flight control system three remaining implementation method structural arrangements employing, symbol description among the figure: t
wIt is the maximum time that allows wait between two machines; LA, LB, LC are triple channel synchronous mark position; SFA, SFB, SFC are the triple channel failure counter.
Fig. 4 is that light of the present invention passes the wait synchronized algorithm representative synchronization of flight control system three remaining implementation method structural arrangements employing and the synoptic diagram of step-out, symbol description among the figure: t
wIt is the maximum time that allows wait between two machines; t
dFor all passages are synchronized to the time delay that synchronous mark resets; t
RBe read states more caused time delay.
Fig. 5 is the structural drawing that passage compares policing algorithm of striding that light of the present invention passes the employing of flight control system three remaining implementation method structural arrangements, and symbol description among the figure: a, b, c are three passages.
Fig. 6 is that the relatively structural drawing of policing algorithm of passage is striden in the ordering that light biography flight control system three remaining implementation method structural arrangements of the present invention adopt, and symbol description among the figure: max, mid, min are respectively the triple channel signal after the ordering.
Fig. 7 is the process flow diagram that passage compares policing algorithm of striding that light of the present invention passes the employing of flight control system three remaining implementation method structural arrangements, and symbol description among the figure: ER is a fault threshold; MAX, MID, MIN are the triple channel signal after sorting, and Fmax, Fmid, Fmin are three-channel failure counter.
Fig. 8 is the process flow diagram that light of the present invention passes the signal list annual reporting law of flight control system three remaining implementation method structural arrangements employing, and symbol description among the figure: ER is a fault threshold.
Fig. 9 is that light of the present invention passes voting machine input/output signal average curve in the flight control system three remaining implementation method structural arrangements.
Figure 10 is that light of the present invention passes voting machine input/output signal variance curve in the flight control system three remaining implementation method structural arrangements.
Figure 11 is that light of the present invention passes flight control system three remaining implementation method structural arrangements are applied to the fault recovery scheme in flight control system process flow diagram.
Embodiment
Be elaborated below in conjunction with the technical scheme of accompanying drawing to invention:
It is as shown in Figure 1 that light passes flight control system three remaining implementation method structural arrangements schemes; In the flight redundant control system; Because number of sensors is too big, if adopt the direct cross-coupled mode among Fig. 1 (1), then required input channel is multiplied; And too much interface and line have also increased the source of trouble; Therefore select the scheme shown in Fig. 1 (2) for use thereby reduce reliability, utilized the serial cross aisle data link of intercomputer to carry out data transmission, in computing machine, carried out data voting and monitoring.
System voting/monitoring plane is as shown in Figure 2, and the voting/monitoring module of computing machine input quantity is in order to the fault of monitoring sensor and other parts; Voting/the monitoring module of computing machine output data is in order to the correctness of supervisory control comuter hardware and software work; The servomechanism control surface comprises servo circuit monitoring and mechanical-hydraulic monitoring, is mainly realized by hardware.
The enforcement of light biography flight control system three remaining implementation methods is following:
Step 1: set up the light shown in Fig. 1 (2) and pass flight control system three remaining systems;
Step 2: adopt and wait for three computing machine synchronous regimes of method for synchronous judgement;
Step 3: the voting/monitoring module of computing machine input end compares voting to the electric signal of sensor output; Carrying out Flight Control Law then calculates; Voting/the monitoring module of last fanout is put to the vote/is monitored the electric signal through Computer Processing; Wherein the comparer in the voting/monitoring module compares method for supervising to electric signal relatively through striding passage, and the voting machine in the voting/monitoring module is decided by vote electric signal through the signal means of voting;
Step 4, last, computing machine will pass through electric signal that output terminal voting/monitoring module relatively decided by vote and transfer to servomechanism and carry out servocontrol.
Wherein, wait for method for synchronous, relatively the realization of method for supervising, signal means of voting is following to stride passage:
(1) wait for method for synchronous:
The process flow diagram of waiting for method for synchronous is as shown in Figure 3, waits for that the representative synchronization and the step-out synoptic diagram of synchronized algorithm is as shown in Figure 4, and under the normal synchronized state, required maximum time is 2t synchronously to be synchronized to completion from entering
w+ t
d+ t
R
Every flight control computer all has work clock, and the working time one is long, can produce very big time drift, makes flight control computer can not be operated in synchronous regime.Synchronized algorithm is exactly a kind of a kind of algorithm of drift correction time.Though the software synchronizing method synchronization accuracy is low, when taking certain machine, select through appropriate algorithm and tolerance; Still can meet the demands; Its advantage is to increase the dirigibility of synchronized algorithm, and required hardware supports seldom and receives external circuit to disturb the probability of caused dependent failure much also little.Therefore, selected for use software approach to realize synchronously in this programme.Specifically adopted so-called " wait synchronized algorithm " at this.This algorithm requires every computing machine that the synchronous mark of oneself all will be arranged, and its set is represented to be in synchronous regime, and resetting then, expression is in asynchronous regime (promptly accomplished synchronized algorithm or do not begun synchronizing process as yet).
Idiographic flow is: when certain computing machine gets into when synchronous; At first, read the synchronous mark of other computing machine then, if in the time that allows, detect the synchronous mark set of other each machine with the synchronous mark set of oneself; Then expression is normal synchronously, can get into the next task cycle; Otherwise think synchronous fault to occur, and carry out failure judgment and be correspondingly processed according to the set situation of the synchronous mark between each machine; In order to prevent the pseudo-generation (for example the synchronous mark of a certain passage always is in SM set mode) of fault synchronously, then after all resets, reading Status Flag one time, if all be in reset mode, then be illustrated as very synchronously, otherwise be pseudo-synchronous.
(2) stride passage relatively method for supervising and signal means of voting:
Relatively the policing algorithm structural drawing is as shown in Figure 5 to stride passage, and the triple channel signal is poor in twos, and difference and threshold value compare, thereby filter out fault-signal, and defective channel cut-out.If by sorting from big to small, just can save a comparison monitor to input signal, this algorithm is called ordering and strides relatively policing algorithm of passage, and its structure is as shown in Figure 6.
Can obtain following failure monitoring discrimination tree (ε is a threshold value) thus.
Wherein, the selection of threshold value is following:
Suppose input signal x, y is separate normal distribution stationary stochastic process N (μ (t), σ
2(t)), make z=x-y, can be known by the knowledge of theory of probability: the linear combination of normal distribution remains normal distribution, i.e. z Normal Distribution N (0,2 σ
2), its probability distribution density is:
If η is the failure monitoring threshold value, when | x-y|＞η, to report to the police, alarm rate is:
In order under this threshold value, to obtain monitoring performance preferably, should make the unit failure rate consistent, promptly with alarm rate
P{|x-y|＞η}＝λ (4)
Wherein λ is the failure rate of parts.Can get the selection principle of fault threshold general scope thus, mainly be that statistical property (σ) and the failure rate of parts (or passage) according to signal confirmed.Signal variance is big more, and then threshold value should be big more; The channel failure rate is big more, and then threshold value should be more little.In real system, except that fixed bias, the error of general signal is relative displacement often, and promptly deviation varies in size along with signal amplitude and changes to some extent.Therefore the fixed gate limit value can cause the fault omission in the small-signal district, and at the large signal region fault misdescription.According to definite principle of above fault threshold, establish σ=k μ, k is a constant, is generally 0.1-0.01.Threshold value that hence one can see that is with the signal Change in Mean.Under actual conditions; The average of signal is unknown, is taken as
usually
When supposing that absolute value when the difference of two signals is greater than threshold value, corresponding comparer is output as " 1 ", otherwise be " 0 ", and establishes C3=C2+2 * C1, and then malfunction and signal distributions situation are as shown in table 1 accordingly.
Table 1 is relatively monitored truth table and corresponding failure state
Relatively the policing algorithm process flow diagram is as shown in Figure 7 to stride passage: stride passage comparison policing algorithm and be provided with failure counter.When the result of relatively monitoring declare a certain channel signal when fault is arranged, its corresponding failure counter increment; The failure counter of non-fault channel signal is then with 1/3 failure counter value-added speed depreciation (but must not less than zero), adopts the method for this failure counter increment and the different speed of depreciation, can detect concussion type and batch-type fault; When the value of failure counter surpassed the maximal value that allows, corresponding signal was excised; When breaking down owing to the intersection transmission of synchronous or data; Fault Processing waits until synchronization monitor or intersection data chainning watch-dog is handled; And the failure counter to the non-availability signal is left intact in comparing policing algorithm, to wait for recovery synchronous or the intersection transmission fault, the perhaps excision of faulty channel; Can obtain striding the relatively realization program of policing algorithm of passage ordering thus, and carry out functional simulation according to the difference of input signal:
Adopting the purpose of deterministic signal input is that policing algorithm is carried out functional checking, and various faults promptly are set in deterministic signal, makes it comprise failure modalities as much as possible, whether can carry out work according to the algorithm of setting to observe watch-dog.Monitored results during the deterministic signal input is as shown in table 2.
Watch-dog output result when table 2 is confirmed the signal input
| Sequence number | La | Lb | Lc | Fa | Fb | Fc | a | b | c |
| 1 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
| 2 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 1 | 2 |
| 3 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 2 | 4 |
| 4 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 3 | 6 |
| 5 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 4 | 8 |
| 6 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 5 | 10 |
| 7 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 6 | 12 |
| 8 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 7 | 14 |
| 9 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 8 | 16 |
| 10 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 9 | 18 |
| 11 | 0 | 0 | 0 | 3 | 0 | 0 | 20 | 1 | 2 |
| 12 | 0 | 0 | 0 | 6 | 0 | 0 | 20 | 2 | 3 |
| 13 | 0 | 0 | 0 | 5 | 0 | 0 | 2 | 2 | 3 |
| 14 | 0 | 0 | 0 | 4 | 0 | 0 | 2 | 3 | 4 |
| 15 | 0 | 0 | 0 | 3 | 0 | 0 | 2 | 3 | 4 |
| 16 | 0 | 0 | 0 | 2 | 0 | 0 | 2 | 3 | 4 |
| 17 | 0 | 0 | 0 | 1 | 0 | 0 | 2 | 3 | 4 |
| 18 | 0 | 0 | 0 | 0 | 0 | 0 | 2 | 3 | 4 |
| 19 | 0 | 0 | 0 | 0 | 3 | 0 | 2 | 20 | 4 |
| 20 | 0 | 0 | 0 | 0 | 2 | 0 | 2 | 2 | 4 |
| 21 | 0 | 0 | 0 | 0 | 5 | 0 | 2 | 20 | 4 |
| 22 | 0 | 0 | 0 | 0 | 4 | 0 | 2 | 2 | 4 |
| 23 | 0 | 0 | 0 | 0 | 7 | 0 | 2 | 20 | 4 |
| 24 | 0 | 1 | 0 | 0 | 10 | 0 | 2 | 20 | 4 |
| 25 | 0 | 1 | 0 | 0 | 10 | 0 | 2 | 12 | 10 |
| 26 | 0 | 1 | 0 | 0 | 10 | 0 | 12 | 20 | 12 |
| 27 | 0 | 1 | 0 | 3 | 10 | 3 | 20 | 12 | 8 |
| 28 | 0 | 1 | 0 | 2 | 10 | 2 | 10 | 20 | 12 |
| 29 | 0 | 1 | 0 | 5 | 10 | 5 | 20 | 10 | 8 |
| 30 | 0 | 1 | 0 | 8 | 10 | 8 | 20 | 10 | 8 |
| 31 | 1 | 1 | 1 | 11 | 10 | 11 | 20 | 20 | 8 |
| 32 | 1 | 1 | 1 | 11 | 10 | 11 | 20 | 20 | 8 |
La, Lb, Lc are signal excision (alarm) sign in the table 2, and Fa, Fb, Fc are failure counter.Fault threshold is taken as 10, and the ultimate value of failure counter is 9.Transient fault appears in passage a in the 11st, 12 group of data, but three signals are got back within the threshold value in 13～18 groups of signals, and passage a is not excised.This procedure declaration: as long as trouble duration is no more than the time that the failure counter maximal value that allowed is allowed, just can not cause the excision of passage, thereby reduce effectively owing to disturb and wait the passage mistake excision that causes.
The 14th～24 group of data show that the oscillation mode fault has appearred in passage b, but because the failure counter increment is different with depreciation speed, and this fault finally has been detected, and excised.Owing to do not add fault recovery, therefore be operated in later two channel statuses.
The 27th～31 group of data show that fault has taken place a passage among passage a and the passage c, but owing to do not add self check, therefore can't position fault.Have to rise in value simultaneously by two channel failure counters, all excised up to both.
Above interpretation of result shows, the pre-defined algorithm work of pressing that watch-dog can be correct.
(3) signal means of voting:
The flow process of signal list annual reporting law is as shown in Figure 8: when not having channel signal to be excised, optional two channel signals are done difference and are done comparison with threshold value, if all two signal difference less than threshold value, are then got med signal as output; When a channel signal is excised, if the difference of remaining two signals less than threshold value, then selects the average of two signals of residue as the voting output valve; When two channel signals are excised, then get null value as voting output, can write out corresponding program according to the process flow diagram of voting algorithm, carried out emulation to multi-form input respectively:
(I) deterministic signal input
The same with policing algorithm emulation, the input of deterministic signal mainly is to select in order to check it whether to carry out signal according to given algorithm.In simulation process, the assumed fault threshold value is 10.Concerning the 1st, 2,3 group of signal, the signal of three passages is all effective, so voting machine is output as its intermediate value.The 4th group of signal since difference in twos all greater than fault threshold, so get last output valve.5th, 7,11 groups of data are excised at a passage, remain two channel signals and average as voting output.6th, 8,12 groups of data are excised at a passage, and the difference of signal that remains two passages is got output last time this moment and exported as voting machine greater than fault threshold.9th, 10,13,14 is two channel signals when being excised, and the value of getting remaining channel is voting output.15th, 16 liang of group data be the triple channel signal all by the situation in when excision, voting machine output this moment null value.Its simulation result is as shown in table 3, and wherein La, Lb, Lc are three-channel excision sign.Can know that by above analysis of simulation result the voting machine module has realized its intended function fully.
Voting output result during the input of table 3 deterministic signal
| Sequence number | La | Lb | Lc | a | b | c | Out |
| 1 | 0 | 0 | 0 | 10 | 15 | 13 | 13 |
| 2 | 0 | 0 | 0 | 10 | 14 | 14 | 14 |
| 3 | 0 | 0 | 0 | 11 | 10 | 22 | 11 |
| 4 | 0 | 0 | 0 | 0 | 17 | 30 | 11 |
| 5 | 0 | 0 | 1 | 11 | 12 | 22 | 11.5 |
| 6 | 0 | 0 | 1 | 0 | 13 | 10 | 11.5 |
| 7 | 0 | 1 | 0 | 11 | 0 | 10 | 10.5 |
| 8 | 0 | 1 | 0 | 11 | 12 | 25 | 10.5 |
| 9 | 0 | 1 | 1 | 11 | 0 | 10 | 11 |
| 10 | 0 | 1 | 1 | 12 | 15 | 10 | 12 |
| 11 | 1 | 0 | 0 | 10 | 12 | 13 | 12.5 |
| 12 | 1 | 0 | 0 | 10 | 12 | 0 | 12.5 |
| 13 | 1 | 0 | 1 | 0 | 12 | 0 | 12 |
| 14 | 1 | 0 | 1 | 10 | 11 | 10 | 11 |
| 15 | 1 | 1 | 1 | 10 | 10 | 10 | 0 |
| 16 | 1 | 1 | 1 | 10 | 21 | 32 | 0 |
(II) random signal input
Suppose that it is μ that three remaining signals are all obeyed identical average, variance is σ
2Normal distribution.In order to obtain this distribution series, produce pseudo random number at this recursion formula of at first using multiplicative congruential method:
Obtain one and obey (0,1) evenly distributed random sequence (delivery M=2
32, multiplier
Seed number X
0=23767), pass through transformation for mula then:
Obtain obeying the random series (R in the following formula that N (0,1) distributes
1And R
2Be the equally distributed pseudo random number of obedience (0,1)), again by transformation for mula:
X
i＝σU
i+μ (i＝0，1，2...N) (7)
Obtain obeying N (μ, σ
2) random series.Form 1000 group of three remaining signal by this random series and be input in the voting machine, and respectively to voting machine be operated in output signal under three, two passages carry out parameter estimation with the numerical characteristic method can be like the simulation result of Fig. 9 and Figure 10.
Can be seen by Fig. 9 no matter voting machine is operated in triple channel or two passages, input signal is identical with the average of output signal, and this is consistent with theoretical analysis.Can know that by Figure 10 voting machine can not only effectively shield fault, but also can reduce the dispersion degree of input signal.
At last, propose following fault recovery scheme according to the present invention: when watch-dog detects fault, at first send recovery request to the driver, have fault to recover with driver, when having only the driver to determine to recover, recovery routine is just started working.The function of damage assessment routine (DAR) is to judge according to driver's instruction whether the fault that requirement recovers is eliminated, if eliminate, then makes corresponding trouble unit add system works.And remove relevant the sign.The condition of fault recovery; For computer failure, can use the policing algorithm of standard that fault-signal and all the other signals are compared, if continuous three times remain within the tolerance; Then corresponding Reflector is reset, and with corresponding failure counter zero clearing.And the sensor fault algorithm is: fault-signal that will be to be recovered and voting machine output signal compares, if both errors continuous three times within tolerance, then allow this signal to resume work, and with the corresponding failure counter O reset.If the fault recovery failure, then the malfunction position should keep, and when recovery request being arranged, attempts to recover next time again.If in failover procedure, there is fault to take place again, then stop to recover, up to more vitals fault recovery completion.The process flow diagram of fault recovery scheme is shown in figure 11.
Claims (5)
1. the implementation method based on the light biography flight control system of three remainings is characterized in that: comprise the steps:
Step 1 is set up light and is passed flight control system three remaining systems;
Step 2 adopts and waits for three computing machine synchronous regimes of method for synchronous judgement;
Step 3 adopts computing machine that the electric signal of sensor output is striden channel monitoring, signal voting, carries out Flight Control Law according to said electric signal then and calculates, and the electric signal after calculating is striden channel monitoring, signal voting once more;
Step 4, computing machine will be passed through step 3 processed electrical signals and transferred to servomechanism and carry out servocontrol.
2. the implementation method that passes flight control system based on the light of three remainings according to claim 1; It is characterized in that: the described light biography flight control system three remaining systems that set up of step 1 comprise sensor, computing machine, the servomechanism that connects successively through optical fiber, and wherein input end and computer and output terminal are provided with two voting/monitoring modules respectively;
Wherein sensor signal is sent into computing machine through optical fiber after the electric light conversion, carries out being sent to servomechanism after the data processing through computing machine;
Wherein voting/monitoring module comprises watch-dog, voting machine;
Said watch-dog is used for monitoring and excising the faulty channel of electric signal;
Said voting machine is used for residual electricity signal after the watch-dog excision and chooses and export servomechanism to.
3. the light based on three remainings according to claim 1 passes the implementation method of flight control system, and it is characterized in that: the described synchronization waiting algorithm of step 2 is specially:
Every computing machine all is provided with synchronous mark, its set is represented to be in synchronous regime, resetting then, expression is in asynchronous regime;
When a certain computing machine gets into when synchronous, at first with its synchronous mark set, read the synchronous mark of other computing machine then, if in the time that allows, detect the synchronous mark set of other each machine, then expression is normal synchronously.
4. the implementation method that passes flight control system based on the light of three remainings according to claim 1; It is characterized in that: the described channel monitoring method of striding of step 3 is specially: adopt watch-dog to compare the input of the input of each passage and rest channels; Get its difference as the monitoring foundation; When the difference of a passage and rest channels all greater than threshold value, think that then this passage breaks down and the disengagement failure passage.
5. the implementation method that passes flight control system based on the light of three remainings according to claim 1; It is characterized in that: the described signal means of voting of step 3 is specially: choose the output signal in the signal that adopts voting machine never to be excised; Difference according to signal number forms the various output signal combination of choosing, and the value of choosing or the two kinds of methods of averaging are adopted in the signal voting.
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| CN (1) | CN102736630A (en) |
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| WO2015025262A1 (en) * | 2013-08-23 | 2015-02-26 | Bombardier Inc. | Abnormal aircraft response monitor |
| CN104678764A (en) * | 2015-01-28 | 2015-06-03 | 北京航空航天大学 | Flight control system sensor hybrid redundancy method based on analytic reconstructed signal |
| CN105116717A (en) * | 2015-08-11 | 2015-12-02 | 中国航空工业集团公司西安飞机设计研究所 | Quad-redundant signal monitoring method and device |
| CN105182961A (en) * | 2015-08-11 | 2015-12-23 | 中国航空工业集团公司西安飞机设计研究所 | Quad-redundancy signal monitoring and voting method and quad-redundancy signal monitoring and voting equipment |
| CN105553636A (en) * | 2015-12-11 | 2016-05-04 | 中国航空工业集团公司西安航空计算技术研究所 | Redundancy mode FC sending channel frame synchronization circuit |
| CN104375510B (en) * | 2014-10-09 | 2017-01-04 | 中国运载火箭技术研究院 | A kind of Cross transfer method being applicable to Spacecraft Attitude Control Mechatronic Systems |
| 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 |
| CN107592187A (en) * | 2017-09-20 | 2018-01-16 | 成都中科信息技术有限公司 | A kind of means of voting based on binary channels voting system |
| CN107605859A (en) * | 2017-08-09 | 2018-01-19 | 中国航空工业集团公司西安飞行自动控制研究所 | The combination decision method of mode is reprocessed after the double remaining DDV thresholding index exceeding standards of open loop |
| CN107992380A (en) * | 2017-11-28 | 2018-05-04 | 北京东土科技股份有限公司 | A kind of computer system, backup management method and computer-readable recording medium |
| CN108351620A (en) * | 2015-09-16 | 2018-07-31 | 深圳市大疆创新科技有限公司 | Method and apparatus for operating mobile platform |
| CN110855211A (en) * | 2019-12-13 | 2020-02-28 | 卧龙电气南阳防爆集团股份有限公司 | High-reliability motor drive control device and control method |
| CN111522331A (en) * | 2020-05-20 | 2020-08-11 | 中国商用飞机有限责任公司 | Flight control system quad-redundancy signal monitoring voting method |
| CN112000078A (en) * | 2020-07-31 | 2020-11-27 | 南京航空航天大学 | Method for recovering state of redundancy flight control computer after fault |
| CN112114574A (en) * | 2019-06-21 | 2020-12-22 | 北京自动化控制设备研究所 | Fault detection and isolation method and system for dual-redundancy servo system |
| CN112558461A (en) * | 2021-02-25 | 2021-03-26 | 四川腾盾科技有限公司 | Output signal voting method for redundancy unmanned aerial vehicle airplane management computer |
| CN112965467A (en) * | 2021-02-19 | 2021-06-15 | 四川腾盾科技有限公司 | Three-redundancy signal monitoring method suitable for unmanned aerial vehicle |
| CN113759781A (en) * | 2021-09-01 | 2021-12-07 | 中国航空工业集团公司西安航空计算技术研究所 | Signal acquisition circuit of aviation pneumatic type fire alarm sensor |
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| CN115826393A (en) * | 2023-02-15 | 2023-03-21 | 西安羚控电子科技有限公司 | Dual-redundancy management method and device of flight control system |
| CN116909123A (en) * | 2023-09-15 | 2023-10-20 | 西北工业大学 | Self-monitoring method for motor controller of aviation dual-redundancy electromechanical actuating system |
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| CN105182961A (en) * | 2015-08-11 | 2015-12-23 | 中国航空工业集团公司西安飞机设计研究所 | Quad-redundancy signal monitoring and voting method and quad-redundancy signal monitoring and voting equipment |
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| CN105553636B (en) * | 2015-12-11 | 2018-07-03 | 中国航空工业集团公司西安航空计算技术研究所 | A kind of remaining model F C sendaisles vertical sync circuit and method |
| CN105553636A (en) * | 2015-12-11 | 2016-05-04 | 中国航空工业集团公司西安航空计算技术研究所 | Redundancy mode FC sending channel frame synchronization circuit |
| CN107605859A (en) * | 2017-08-09 | 2018-01-19 | 中国航空工业集团公司西安飞行自动控制研究所 | The combination decision method of mode is reprocessed after the double remaining DDV thresholding index exceeding standards of open loop |
| CN107605859B (en) * | 2017-08-09 | 2019-11-15 | 中国航空工业集团公司西安飞行自动控制研究所 | The combination determination method of mode is reprocessed after open loop double redundancy DDV thresholding index exceeding standard |
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| CN112114574B (en) * | 2019-06-21 | 2023-12-05 | 北京自动化控制设备研究所 | Dual-redundancy servo system fault detection and isolation method and system |
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