CN103529691B - A kind of table-look-up type triple redundance signal processing method - Google Patents
A kind of table-look-up type triple redundance signal processing method Download PDFInfo
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Abstract
The invention belongs to signal processing field, specifically a kind of table-look-up type triple redundance signal processing method of disclosure, it comprises the following steps: (1) measures three redundant channel, tunnel Vx1、Vx2Or Vx3Value；(2) calculate triple redundance signal two-by-two between difference DELTA Vx12、ΔVx23、ΔVx13；(3) inquiry triple redundance signal inquiry table: (3.1) judge Δ Vx12、ΔVx23、ΔVx13And the relation between breakdown judge thresholding Δ, and look into table: as Δ Vx12、ΔVx23、ΔVx13During less than or equal to Δ, global variable K=0, illustrate that three paths are all normal, appoint and take a-road-through road as current triple redundance signal processing results；(3.2) when global variable K is not equal to 0, continue to judge Δ Vx12、ΔVx23、ΔVx13With the relation of Δ, and look into table, obtain triple redundance signal processing results.The method can make the pulsation of triple redundance signal processing results be reduced to minimum.
Description
Technical field
The invention belongs to signal processing field, be specifically related to the processing method of a kind of table-look-up type triple redundance signal.
Background technology
At present the reliability requirement of China's aerospace craft is more and more higher, accordingly reliable to each building block
Property require the most day by day improve, especially as aerospace craft control servo control mechanism the most basic as whole system
One layer of its reliability just seem more important.It is usually by Redundancy Design and improves servo control mechanism reliability
Effective means, the especially configuration of triple redundance uses more and more frequent, thus brings triple redundance signal processing side
Method problem.Normally used triple redundance signal processing method is the mode of majority voting, i.e. in three signals
Find out two of which closest to signal, and take their meansigma methods as the signal finally determined, the party
What method was followed is exactly the principle that the minority is subordinate to the majority.But, usual signal is continually varying, and three is superfluous
Remaining signal often intermeshes, passes through mutually, if the method using majority voting, its voting result must
Between triple redundance signal, so do not stop switching, even if therefore signal the most also there will be on a large scale,
Many frequencys are pulsed, and this pulsation is often brought in result as one interference.Accordingly, it would be desirable to one
Plant the triple redundance signal processing method that pulsation is little.
Summary of the invention
Present invention aim to overcome the deficiencies in the prior art, it is provided that the process side of a kind of triple redundance signal
Method, the method can make the pulsation of triple redundance signal processing results be reduced to minimum.
Realize the technical scheme of the object of the invention: a kind of table-look-up type triple redundance signal processing method, it include with
Lower step:
(1) three redundant channel, tunnel V are measuredx1、Vx2、Vx3Value；
(2) V obtained is measured according to above-mentioned steps (1)x1、Vx2、Vx3Value, calculate triple redundance signal
Vx1、Vx2、Vx3Difference DELTA V between two-by-twox12、ΔVx23、ΔVx13It is shown below:
ΔVx12=|Vx1-Vx2|
ΔVx23=|Vx2-Vx3|
ΔVx13=|Vx1-Vx3|
(3) the triple redundance signal obtained according to above-mentioned steps (2) two-by-two between difference DELTA Vx12、ΔVx23、ΔVx13,
Table look-up according to the corresponding relation of table 1 below:
(3.1) difference DELTA V of triple redundance signal is judged respectivelyx12、ΔVx23、ΔVx13With breakdown judge thresholding Δ it
Between relation, then look into table 1 below according to the relation between these values, from table 1 below:
As Δ Vx12、ΔVx23、ΔVx13When being respectively less than equal to Δ, the global variable K=0 of output, illustrate that three tunnels lead to
Road is all normal, now can appoint and take a-road-through road as current triple redundance signal processing results Vx；
(3.2) when in certain execution cycle, the global variable K of output is not equal to 0, continue to judge Δ Vx12、
ΔVx23、ΔVx13And the relation between breakdown judge thresholding Δ, then looks into following table according to the relation between these values
1, obtain triple redundance signal processing results Vx。
Described step (3.2) comprises the following steps:
(3.2.1) as Δ Vx12More than Δ and Δ Vx23、ΔVx13When being respectively less than equal to Δ, the global variable of output
K=1, illustrates first via passage or the second paths fault, takes the redundant signals V of the 3rd pathsx3As working as
First three redundant signals result；
(3.2.2) as Δ Vx23More than Δ and Δ Vx12、ΔVx13When being respectively less than equal to Δ, the global variable of output
K=2, illustrates the second paths or the 3rd paths fault, takes the redundant signals V of first via passagex1As working as
First three redundant signals result；
(3.2.3) as Δ Vx13More than Δ and Δ Vx12、ΔVx23When being respectively less than equal to Δ, the global variable of output
K=3, illustrates first via passage or the 3rd paths fault, takes Vx2As current triple redundance signal processing results；
(3.2.4) as Δ Vx12With Δ Vx23It is all higher than Δ and Δ Vx13During less than or equal to Δ, the global variable of output
K=4, illustrates the second paths fault, takes Vx1As current triple redundance signal processing results；
(3.2.5) as Δ Vx23With Δ Vx13It is all higher than Δ and Δ Vx12During less than or equal to Δ, the global variable of output
K=5, illustrates the 3rd paths fault, takes Vx1As current triple redundance signal processing results Vx；
(3.2.6) as Δ Vx12With with Δ Vx13It is all higher than Δ and Δ Vx23During less than or equal to Δ, the overall situation change of output
Amount K=6, illustrates first via channel failure, takes Vx2As current triple redundance signal processing results；
(3.2.7) as Δ Vx12、ΔVx23、ΔVx13When being respectively less than equal to Δ, the global variable K=7 of output, three
Individual passage at least two fault, averages and ties as current triple redundance signal processing.
The Advantageous Effects of the present invention is: achieved the table of three road displacement signals by the method tabled look-up
Certainly；Avoid the phenomenon of majority voting arithmetic result pulsation；The method is only just cut when breaking down
Changing, output result is more steady.
Accompanying drawing explanation
Fig. 1 is the process chart of a kind of table-look-up type triple redundance signal processing method provided by the present invention.
Detailed description of the invention
With embodiment, the present invention is described in further details below in conjunction with the accompanying drawings.
A kind of table-look-up type triple redundance signal processing method provided by the present invention, comprises the following steps:
(1) first aerospace craft servo control mechanism is carried out system initialization, then use A-D converter to survey
Measure three redundant channel, tunnel Vx1、Vx2、Vx3Value,
Wherein, Vx1For the redundant signals of first via passage 1, Vx2It is the redundant signals of the second paths 2,
Vx3It it is the redundant signals of the 3rd paths 3.
(2) V obtained is measured according to above-mentioned steps (1)x1、Vx2、Vx3Value, calculate triple redundance signal
Vx1、Vx2、Vx3Difference DELTA V between two-by-twox12、ΔVx23、ΔVx13It is shown below:
ΔVx12=|Vx1-Vx2|
ΔVx23=|Vx2-Vx3|
ΔVx13=|Vx1-Vx3|
Wherein, Δ Vx12For the difference between the first via and the second tunnel, Δ Vx23It it is the difference between the second road and the 3rd tunnel
Value, Δ Vx13For the difference between the first via and the 3rd tunnel.
(3) the triple redundance signal obtained according to above-mentioned steps (2) two-by-two between difference DELTA Vx12、ΔVx23、ΔVx13,
Table look-up according to the corresponding relation of table 1 below:
Table 1 triple redundance signal inquiry table
In upper table 1, K is triple redundance signal global variable.VxFor triple redundance result.Δ is that fault is sentenced
Disconnected thresholding, the determination of Δ value needs to be determined according to substantial amounts of data, generally can according to triple redundance signal just
In the case of Chang, the twice of maximum difference determines, wherein, maximum difference refers to Δ Vx12、ΔVx23、ΔVx13In
Maximum value.
Only when K is 0, next execution cycle just re-starts table lookup operations, all illustrates during other situation
At least there is a road and occur abnormal, carry out the output switching control of triple redundance signal processing results Vx according to upper table 1
System, next execution cycle no longer carries out redundancy and processes computing, under directly the result of current period forever being continued
Go.According to specifically comprising the following steps that the corresponding relation of upper table 1 carries out tabling look-up
(3.1) difference DELTA V of triple redundance signal is judged respectivelyx12、ΔVx23、ΔVx13With breakdown judge thresholding Δ it
Between relation, then look into upper table 1 according to the relation between these values, from upper table 1:
As Δ Vx12、ΔVx23、ΔVx13When being respectively less than equal to Δ, the global variable K=0 of output, illustrate that three tunnels lead to
Road is all normal, now can appoint and take a-road-through road Vx1、Vx2、Vx3Zhong mono-believes as current triple redundance on tunnel
Number result Vx.And next execution cycle repeats above-mentioned computing.
(3.2) when the global variable K of output is not equal to 0 in certain execution cycle, following judgement is i.e. carried out:
Judge difference DELTA V of triple redundance signal respectivelyx12、ΔVx23、ΔVx13And the relation between breakdown judge thresholding Δ,
Then upper table 1 is looked into according to the relation between these values, from upper table 1:
(3.2.1) as Δ Vx12More than Δ and Δ Vx23、ΔVx13When being respectively less than equal to Δ, the global variable of output
K=1, illustrates first via passage 1 or the second paths 2 fault, takes the redundant signals V of the 3rd paths 3x3
As current triple redundance signal processing results Vx；
(3.2.2) as Δ Vx23More than Δ and Δ Vx12、ΔVx13When being respectively less than equal to Δ, the global variable of output
K=2, illustrates the second paths 2 or the 3rd paths 3 fault, takes the redundant signals V of first via passage 1x1
As current triple redundance signal processing results Vx；
(3.2.3) as Δ Vx13More than Δ and Δ Vx12、ΔVx23When being respectively less than equal to Δ, the global variable of output
K=3, illustrates first via passage 1 or the 3rd paths 3 fault, takes Vx2As current triple redundance signal processing
Result Vx；
(3.2.4) as Δ Vx12With Δ Vx23It is all higher than Δ and Δ Vx13During less than or equal to Δ, the global variable of output
K=4, illustrates the second paths 2 fault, takes Vx1As current triple redundance signal processing results Vx；
(3.2.5) as Δ Vx23With Δ Vx13It is all higher than Δ and Δ Vx12During less than or equal to Δ, the global variable of output
K=5, illustrates the 3rd paths 3 fault, takes Vx1As current triple redundance signal processing results Vx；
(3.2.6) as Δ Vx12With with Δ Vx13It is all higher than Δ and Δ Vx23During less than or equal to Δ, the overall situation change of output
Amount K=6, illustrates first via passage 1 fault, takes Vx2As current triple redundance signal processing results Vx；
(3.2.7) as Δ Vx12、ΔVx23、ΔVx13When being respectively less than equal to Δ, the global variable K=7 of output, three
Individual passage at least two fault, averages as current triple redundance signal processing results, i.e. Vx=(Vx1+
Vx2+Vx3)/3.
By above step it can be seen that the process of this triple redundance signal is realized by the method tabled look-up completely,
It addition, under normal circumstances, the most only a kind of result of output, when a certain road appearance that and if only if is abnormal, defeated
Go out triple redundance signal once to switch, do not switch over, therefore process output result more steady,
Do not produce pulsation.
Above in conjunction with drawings and Examples, the present invention is explained in detail, but the present invention is not limited to above-mentioned
Embodiment, in the ken that those of ordinary skill in the art are possessed, it is also possible to without departing from the present invention
On the premise of objective, various changes can be made.The content not being described in detail in the present invention all can use existing skill
Art.
Claims (2)
1. a table-look-up type triple redundance signal processing method, it is characterised in that it comprises the following steps:
(1) three redundant channel, tunnel V are measuredx1、Vx2、Vx3Value；
(2) V obtained is measured according to above-mentioned steps (1)x1、Vx2、Vx3Value, calculate triple redundance signal
Vx1、Vx2、Vx3Difference DELTA V between two-by-twox12、ΔVx23、ΔVx13It is shown below:
ΔVx12=| Vx1-Vx2|
ΔVx23=| Vx2-Vx3|
ΔVx13=| Vx1-Vx3|
(3) the triple redundance signal obtained according to above-mentioned steps (2) two-by-two between difference DELTA Vx12、ΔVx23、ΔVx13,
Table look-up according to the corresponding relation of table 1 below:
Table 1
(3.1) difference DELTA V of triple redundance signal is judged respectivelyx12、ΔVx23、ΔVx13With breakdown judge thresholding Δ
Between relation, then look into upper table 1 according to the relation between these values, from upper table 1:
As Δ Vx12、ΔVx23、ΔVx13When being respectively less than equal to Δ, the global variable K=0 of output, three tunnels are described
Passage is all normal, and this former a-road-through road that takes is as current triple redundance signal processing results Vx；
(3.2) when the global variable K of output is not equal to 0, continue to judge Δ Vx12、ΔVx23、ΔVx13
And the relation between breakdown judge thresholding Δ, then looks into upper table 1 according to the relation between these values, obtains three superfluous
Remaining signal processing results Vx。
A kind of table-look-up type triple redundance signal processing method the most according to claim 1, it is characterised in that:
Described step (3.2) comprises the following steps:
(3.2.1) as Δ Vx12More than Δ and Δ Vx23、ΔVx13When being respectively less than equal to Δ, the overall situation change of output
Amount K=1, illustrates first via passage (1) or the second paths (2) fault, takes the 3rd paths (3)
Redundant signals Vx3As current triple redundance signal processing results；
(3.2.2) as Δ Vx23More than Δ and Δ Vx12、ΔVx13When being respectively less than equal to Δ, the overall situation change of output
Amount K=2, illustrates the second paths (2) or the 3rd paths (3) fault, takes first via passage (1)
Redundant signals Vx1As current triple redundance signal processing results；
(3.2.3) as Δ Vx13More than Δ and Δ Vx12、ΔVx23When being respectively less than equal to Δ, the overall situation change of output
Amount K=3, illustrates first via passage (1) or the 3rd paths (3) fault, takes Vx2As current triple redundance
Signal processing results；
(3.2.4) as Δ Vx12With Δ Vx23It is all higher than Δ and Δ Vx13During less than or equal to Δ, the overall situation change of output
Amount K=4, illustrates the second paths (2) fault, takes Vx1As current triple redundance signal processing results；
(3.2.5) as Δ Vx23With Δ Vx13It is all higher than Δ and Δ Vx12During less than or equal to Δ, the overall situation change of output
Amount K=5, illustrates the 3rd paths (3) fault, takes Vx1As current triple redundance signal processing results Vx；
(3.2.6) as Δ Vx12With with Δ Vx13It is all higher than Δ and Δ Vx23During less than or equal to Δ, the overall situation of output
Variable K=6, illustrates first via passage (1) fault, takes Vx2As current triple redundance signal processing results；
(3.2.7) as Δ Vx12、ΔVx23、ΔVx13When being all higher than Δ, the global variable K=7 of output, three
Passage at least two fault, averages as current triple redundance signal processing results.
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