CN103823362A - Arbitration mechanism-based similar dual-redundancy flight control computer and redundancy control method - Google Patents

Abstract

The invention discloses an arbitration mechanism-based similar dual-redundancy flight control computer and a redundancy control method, and belongs to the technical field of unmanned aerial vehicle flight control. According to the arbitration mechanism-based similar dual-redundancy flight control computer and the redundancy control method of the invention, an independent single-chip microcomputer arbitration unit is adopted, and performance monitoring and fault detection of the kernel of the flight control computer can be realized through an arbitration algorithm, and redundancy management is performed, and therefore, the cost, volume and weight of the redundancy flight control computer can be decreased; with a relatively independent system structure adopted, mutual interference in failure can be avoided, and single-point faults of a system can be effectively suppressed, and the overall reliability of the flight control computer can be improved.

Description

The similar pair of remaining flight control computer based on arbitration mechanism and redundancy control method

Technical field

The invention discloses the similar pair of remaining flight control computer and redundancy control method based on arbitration mechanism, belong to the technical field of UAV Flight Control.

Background technology

Along with the develop rapidly of aeronautical technology, unmanned plane overall performance is significantly enhanced in recent years, and purposes is increasingly extensive.Meanwhile, the significantly prolongation of task time and the complexity day by day of function also improve flight control system failure rate thereupon.Unmanned plane (UAV, Unmanned Aerial Vehicles) flight control system is one of crucial subsystem of unmanned aerial vehicle platform, its core cell is flight control computer, it is unmanned plane " command and control center ", its major function for gathering, input unmanned plane various flight parameter information, carry out control law and resolve, and produce corresponding instruction according to the steering logic of setting, then complete the flight control function to unmanned plane, realize scheduling and management to airborne task device, guarantee that unmanned plane task in time, complete reliably.

Flight control computer hardware components is take electronic component as main, at present in, large-scale integrated circuit is widely applied.But limited by the manufacturing technology level of current components and parts, the reliability of basic components and parts cannot meet the requirement of flight control computer to reliability.Under this situation, redundancy technology arises at the historic moment.Redundancy technology is the reliability that improves flight control computer from system architecture aspect, its essence is and utilizes unnecessary hardware resource to exchange the raising of whole system mission reliability for.

Through long-term practical exploration, people have proposed a lot of solutions for the remaining form of flight control computer.Be the main method that improves at present reliability based on the machine-processed redundance structure of voting and the dual-redundancy structure of principal and subordinate's mechanism.Redundance form generally needs at least three flight control computers to work simultaneously, and judged result adopts the mechanism that the minority is subordinate to the majority, and it is most widely used general.The method advantage is that fault accuracy of detection is high, to system model without specific requirement.But this version has also been brought, and volume is large, Heavy Weight, energy consumption and a series of unavoidable problems of high in cost of production, and from hardware configuration, at least needs three flight control computers to work simultaneously, and Software for Design, sequential coupling are had to high requirement.

In fact,, along with improving constantly of flight control computer performance and unit reliability, dual-redundancy structure will occupy increasing proportion in following unmanned plane Miniaturization Design.Two redundancy designs preferably resolve large, the baroque problem of redundance volume, but because mostly existing pair of redundancy technology is the mechanism based on principal and subordinate, have caused that system failure coverage rate is lower, control authority distributes indefinitely, and arbitration lacks rationally, fairness.Therefore design the two remaining flight control computers of a kind of fault coverage unmanned plane higher, that can realize real parallel mechanism, there is larger engineering using value to improving the exploitations of flight control system reliability and unmanned plane Miniaturization Design.

Summary of the invention

Technical matters to be solved by this invention is the deficiency for above-mentioned background technology, and the similar pair of remaining flight control computer and redundancy control method based on single-chip microcomputer arbitration mechanism are provided.

The present invention adopts following technical scheme for achieving the above object:

Based on similar pair of remaining flight control computer of arbitration mechanism, comprise first, second kernel, telecommunication circuit, single-chip microcomputer arbitration unit, high speed COMS bus exchange switch circuit, wherein:

Described first, second kernel gathers respectively unmanned plane status information and resolves control law and obtains the control signal of flying;

Described telecommunication circuit is transferred to single-chip microcomputer arbitration unit by the parameter that characterizes aircraft reliability after first, second kernel completes self check;

The flight control signal of two kernel outputs of quantity of state, comparison and the otherness size of its discreet value that described single-chip microcomputer arbitration unit characterizes kernel reliability by detection are found fault kernel, implement redundancy management;

Described high speed COMS bus exchange switch circuit is under the redundancy management of single-chip microcomputer arbitration unit, and the flight control signal of output non-fault kernel, controls topworks's action then.

Further, as the further prioritization scheme of described similar pair of remaining flight control computer, described single-chip microcomputer arbitration unit is selected the MSC1212 chip of TI company.

Further, as the further prioritization scheme of described similar pair of remaining flight control computer, described high speed COMS bus exchange switch is selected the ADG1634 chip of AD company.

Redundancy control method, realize by described similar pair of remaining flight control computer, single-chip microcomputer arbitration unit, in the time that two kernel self checks are normal, is realized the real-time fault detection to flight control computer kernel data by data arbitration algorithm, and carry out redundancy management, specifically comprise the steps:

Step 1, each kernel collection and resolve the unmanned plane status information in consecutive periods after send to single-chip microcomputer arbitration unit, single-chip microcomputer arbitration unit is by status information curve local linearization, and utilize least square method to carry out segmentation the best to condition curve and approach, the unmanned plane state variable actual value being gathered by front k continuous sampling cycle again obtains the discreet value of k+1 sampling instant, calculating for convenience and keeping certain fitting precision, k value is to be greater than 2 and be less than 10 integer;

Step 2, in the time that two kernel collections or the unmanned plane quantity of state difference resolved are greater than threshold value, the data of more each kernel and the discreet value to next control cycle respectively, arbitration unit judges that the kernel that this cycle data and next cycle discreet value otherness are larger is fault kernel;

Step 3, single-chip microcomputer arbitration unit sends switching command to two kernel, and controls high speed COMS bus exchange switch and implement output switching, and interior nuclear subsitution fault kernel for subsequent use continues output flight control signal.

The present invention adopts technique scheme, has following beneficial effect: the cost, volume, the weight that have reduced remaining flight control computer; Introduce independently arbitration unit, internal system coupling is low, and the phase mutual interference while having avoided fault can effectively suppress the Single Point of Faliure of system; Improve the global reliability of flight control computer.

Accompanying drawing explanation

Fig. 1 is the software flow pattern of system arbitrament.

Fig. 2 is the software flow pattern of arbitration algorithm.

Fig. 3 is system architecture theory diagram of the present invention.

Fig. 4 is schematic block circuit diagram of the present invention.

Fig. 5 is the comparison diagram of true value curve and discreet value curve.

Number in the figure explanation: 1, the first kernel, 2, the second kernel, 3, single-chip microcomputer arbitration unit, 4, telecommunication circuit, 5, high speed COMS bus exchange switch circuit.

Embodiment

Below in conjunction with accompanying drawing, the technical scheme of invention is elaborated:

The similar pair of remaining flight control computer based on arbitration mechanism be as shown in Figure 3,4: hardware mainly comprises flight control computer kernel 1,2, single-chip microcomputer arbitration unit 3, telecommunication circuit 4, high speed COMS bus exchange switch circuit 5(is made up of ADG1634 high-speed analog switch K1, K2, K3, K4, K5, K6).

Kernel is made up of extended resources such as MPC565 core processor, serial port chip, A/D, D/A and storeies.In the time of system structure design, only flight control computer kernel is carried out to redundancy, form parallel dual-machine hot backup system by two identical kernel passages of hardware configuration.

Single-chip microcomputer arbitration unit is selected the MSC1212 of TI company, selects the ADG1634 of AD company for the high-speed analog switch of output switching circuit, and with regard to handling property and reliability, this two chip is all comparatively ideal selections.Single-chip microcomputer arbitration unit 3 is Xu12 road I/O passage and dual serial interface at least, communicates respectively with first, second kernel 1,2.

After system operation, the first kernel 1 and the second kernel 2 Real-time Collection unmanned plane status informations, and resolve control law output; After self check, the parameter that characterizes flight control computer kernel reliability is transferred to single-chip microcomputer arbitration unit 3 through intermodule communication circuit 4, single-chip microcomputer arbitration unit 3 uses arbitration algorithm to judge parameter, and whether the clear and definite flight control computer kernel of being this moment responsible for output is in the reliable control stage.If current flight control computer kernel fault, and another kernel is working properly, output switching signal, these control signals make the output of high speed COMS bus exchange switch circuit 5 switch to B by A, and the kernel passage that system is finally responsible for output becomes the second kernel 2 from flight control computer the first kernel 1.

As shown in Figure 1 and Figure 2, single-chip microcomputer arbitration unit is realized performance monitoring and the fault detect to flight control computer kernel by arbitration algorithm to redundancy control method, and carries out redundancy management, specifically comprises the steps:

Step 1, each kernel collection and resolve the unmanned plane status information in consecutive periods after send to single-chip microcomputer arbitration unit, single-chip microcomputer arbitration unit is by status information curve local linearization, and utilize least square method to carry out segmentation the best to condition curve and approach, the unmanned plane state variable actual value being gathered by front k continuous sampling cycle again obtains the discreet value of k+1 sampling instant, calculating for convenience and keeping certain fitting precision, k value is to be greater than 2 and be less than 10 integer;

Least square ratio juris is with Linear-Quadratic Problem curve, aim curve to be carried out to segmentation the best to approach, and makes actual value and the estimated value square error minimum of each point on curve,

$S=\underset{i=0}{\overset{N}{\mathrm{\Σ}}}{[f\left(t_i\right)-\underset{k=0}{\overset{N}{\mathrm{\Σ}}}{a}_k{t}_i^k]}^2$

$=\underset{i=0}{\overset{N}{\mathrm{\Σ}}}{[f\left(t_i\right)-(a_0+a_1{t}_i+......+a_n{t}_i^n)]}^2,$

When estimated value mean square deviation S is to parameter a ₀, a ₁, a ₂partial derivative while equalling zero, a ₀, a ₁, a ₂it is minimum that value makes S, that is:

$\left[\begin{array}{c}\frac{\&PartialD;S}{{\&PartialD;a}_0}\\ \frac{\&PartialD;S}{{\&PartialD;\mathrm{<figure-callout\; id="1"\; label="a"\; filenames="HDA0000466420890000032.png"\; state="\{\{state\}\}">a</figure-callout>}}_1}\\ \frac{\&PartialD;S}{{\&PartialD;\mathrm{<figure-callout\; id="2"\; label="a"\; filenames="HDA0000466420890000031.png,HDA0000466420890000032.png"\; state="\{\{state\}\}">a</figure-callout>}}_2}\end{array}\right]=\left[\begin{array}{c}-2\underset{i=0}{\overset{N}{\mathrm{\&Sigma;}}}[f\left(t_i\right)-(a_0+a_1{t}_i+a_2{t}_i^2)]\\ -2t_i\underset{i=0}{\overset{N}{\mathrm{\&Sigma;}}}[f\left(t_i\right)-(a_0+a_1{t}_i+a_2{t}_i^2)]\\ -2t_i^2\underset{i=0}{\overset{N}{\mathrm{\&Sigma;}}}[f\left(t_i\right)-(a_0+a_1{t}_i+a_2{t}_i^2)]\end{array}\right]=\left[\begin{array}{c}0\\ 0\\ 0\end{array}\right],$

Can try to achieve a by above formula ₀, a ₁, a ₂expression formula.Unmanned plane is a very strong multi-variable system of real-time, too early data do not possess actual reference significance, and fitting precision is not proportional with step-length, consider the storage cost of fitting data in single-chip microcomputer, piecewise fitting step-length is taken as to 3,, i.e. k=3, data arbitration algorithm utilizes nearest 3 cycle data variation tendencies to verify the 4th cycle data correctness.Matching is that segmentation is carried out, and is only to mating apart from one section of nearest curve of inaction interval, as long as guarantee that each data are consecutive periods samplings before fault.Regard sampled value as discrete point ordinate, horizontal ordinate can be 4 fixed step size arbitrary values, so should make the convenient calculating of value as far as possible, gets here:

t=[0?1?2]

Herein with Linear-Quadratic Problem curve y (t)=a ₀+ a ₁t+a ₂t ²aim curve is carried out to segmentation the best and approach, the True Data of supposing continuous 3 cycles is R (2), R (1), R (0), at a ₀, a ₁, a ₂in situation about all having obtained, t=3 substitution matched curve equation is to the estimated value of parameter in inaction interval:

y _e(3)=R(0)-4R(1)+3R(2)

From above formula, the parameter estimation computing in arbitration algorithm is simple, very easily in single-chip microcomputer, realizes.Suppose t moment parametic fault, R ₁(t), R ₂(t) be measured value, y ₁(t), y ₂(t) be inaction interval estimated value, the Di of λ for allowing between measured value and discreet value, L is maximum threshold, if | R ₁(t)-R ₂(t) | >L, and have:

|R ₁(t)-y ₁(t)|>λ，|R ₂(t)-y ₂(t)|<λ

Think service aisle fault, otherwise backup path fault is implemented redundancy management.

Step 2, in the time that two kernel collections or the unmanned plane quantity of state difference resolved are greater than threshold value, the data of more each kernel and the discreet value to next control cycle respectively, arbitration unit judges that the kernel that this cycle data and next cycle discreet value otherness are larger is fault kernel.

Step 3, single-chip microcomputer arbitration unit sends switching command to two kernel, and controls high speed COMS bus exchange switch and implement output switching, and interior nuclear subsitution fault kernel for subsequent use continues output flight control signal.

When single-chip microcomputer arbitration unit carries out performance monitoring, also carry out according to this order, specifically perform step as follows:

(1) cycle, carry out " heartbeat " input.If " heartbeat " is normal, carry out next step detection; If discovery fault, shields follow-up monitor procedure, implement redundancy management.

(2) graded size is realized by flight control computer self check, the relevant self check status information of set or removing after completing, and single-chip microcomputer each cycle detects also its performance is judged.If graded is normal, carry out next step detection; If discovery fault, shields follow-up monitor procedure, implement redundancy management.

Complete reception two flies to control after channel data, carry out the otherness monitoring of homogeneous data, in actual applications, consider the size of parameter on aircraft performance impact, choose height, the angle of pitch, roll angle, control law and export the arbitration monitored object as single-chip microcomputer.If otherness monitoring is normal, record flight control computer status information, upgrade arbitration database; If discovery fault, execution parameter is estimated and proving program, implements redundancy management.Parameter arbitration process as shown in Figure 1.

Be in 20ms situation in the unmanned aerial vehicle (UAV) control cycle, for variation range in 2s be ± 3V steering wheel signal, the change curve of estimating curve and actual signal when normal is as shown in Figure 5 close, and estimated value and actual value otherness are not remarkable.At a time, apply an instantaneous disturbance to system, estimate curve and actual signal change curve has produced larger difference, as seen from the figure, there is larger change in the real data of fault moment, and data estimator is still close with gross data, data estimator will be more this moment than more accurately (because real data be the data of fault) of real data this moment, we just thus failure judgement (data estimator and real data difference are not remarkable when normal, the data error of estimating curve and actual curve in embodiment is less than 0.005V, much smaller than fault alarm threshold value).

Visible, technical scheme of the present invention has the following advantages:

(1) substitute voting circuit by single-chip microcomputer arbitration circuit and can reduce the required hardware quantity of formation remaining, reduced the restriction that remaining flight control computer produces unmanned plane at aspects such as cost, volume, weight and complexities.

(2) supplemented independent arbitration unit, introduce data referee method, than two redundancy architectures of other form, each functions of modules and subordinate relation are relatively independent, coupling is low, phase mutual interference while having avoided fault, can effectively suppress the Single Point of Faliure of system, and arbitration mechanism and steering logic are more clear and definite and perfect.

(3) be convenient to safeguard, debugging and changing, adopt the Modular structure form of plug-in, single-chip microcomputer, flight control computer kernel are separate, all can keep in repair separately, debug and change.

(4) two passage flight control computer kernels have formed the parallel Hot Spare remaining mechanism of real binary channels, as a certain passage breaks down, can substitute work by another passage, have effectively improved the global reliability of flight control computer.

Claims (4)

1. the similar pair of remaining flight control computer based on arbitration mechanism, comprises first, second kernel, it is characterized in that: described similar pair of remaining flight control computer also comprises: telecommunication circuit, single-chip microcomputer arbitration unit, high speed COMS bus exchange switch circuit, wherein:

Described first, second kernel gathers respectively unmanned plane status information and resolves control law and obtains the control signal of flying;

Described telecommunication circuit is transferred to single-chip microcomputer arbitration unit by the parameter that characterizes aircraft reliability after first, second kernel completes self check;

The flight control signal of two kernel outputs of quantity of state, comparison and the otherness size of its discreet value that described single-chip microcomputer arbitration unit characterizes kernel reliability by detection are found fault kernel, implement redundancy management;

Described high speed COMS bus exchange switch circuit is under the redundancy management of single-chip microcomputer arbitration unit, and the flight control signal of output non-fault kernel, controls topworks's action then.

2. similar pair of remaining flight control computer according to claim 1, is characterized in that: described single-chip microcomputer arbitration unit is selected the MSC1212 chip of TI company.

3. similar pair of remaining flight control computer according to claim 1 and 2, is characterized in that: described high speed COMS bus exchange switch is selected the ADG1634 chip of AD company.

4. redundancy control method, utilize similar pair of remaining flight control computer described in claim 1 or 2 or 3 to realize, it is characterized in that: single-chip microcomputer arbitration unit is in the time that two kernel self checks are normal, realize the real-time fault detection to flight control computer kernel data by data arbitration algorithm, and carry out redundancy management, specifically comprise the steps:

Step 1, each kernel collection and resolve the unmanned plane status information in consecutive periods after send to single-chip microcomputer arbitration unit, single-chip microcomputer arbitration unit is by status information curve local linearization, and utilize least square method to carry out segmentation the best to condition curve and approach, the unmanned plane state variable actual value being gathered by front k continuous sampling cycle again obtains the discreet value of k+1 sampling instant, calculate for convenience and keep certain fitting precision, k value to be taken as being greater than 2 and be less than 10 integer;

Step 2, in the time that two kernel collections or the unmanned plane quantity of state difference resolved are greater than threshold value, the data of more each kernel and the discreet value to next control cycle respectively, arbitration unit judges that the kernel that this cycle data and next cycle discreet value otherness are larger is fault kernel;

Step 3, single-chip microcomputer arbitration unit sends switching command to two kernel, and controls high speed COMS bus exchange switch and implement output switching, and interior nuclear subsitution fault kernel for subsequent use continues output flight control signal.

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