CN104678764A - Flight control system sensor hybrid redundancy method based on analytic reconstructed signal - Google Patents
Flight control system sensor hybrid redundancy method based on analytic reconstructed signal Download PDFInfo
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Abstract
The invention discloses a flight control system sensor hybrid redundancy method based on an analytic reconstructed signal, and relates to the technical field of spacecraft control. With the analytic reconstructed signal designed in the hybrid redundancy method, the analytic reconstructed signal only serves as a hot backup signal under regular work condition of a current sensor system, and does not participate in the decision-making strategy of a monitoring voting system; once the voting result of the monitoring voting system is abnormal, the hot backup signal is started for participating voting, the monitoring voting system is used for comparing each sensor measured value with the analytic reconstructed signal, and correct measured value output is given out. Thus, the capacity of processing process faults by purely depending hardware redundancy is improved, and the redundancy level and fault/work level of the sensor system are improved; the hardware maintenance difficulty in later period is also greatly reduced, and the hardware redundancy configuration of the sensor system can also be appropriately reduced if the correctness of the analytic signal can be guaranteed.
Description
Technical field
The present invention relates to flying vehicles control technical field, provide a kind of especially and adopt the method for resolving reconfiguration technique identification angular rate sensor fault and reconstruct angle rate signal.Specifically, referring to a kind of flight control system sensor mixing remaining method based on resolving reconstruction signal, is consisted of with hardware redundant system by parsing reconstruction signal to mix redundant system to improve the method for sensing system reliability.
Background technology
In order to improve the reliability of aircraft measurement system, the measuring system of contemporary aircraft adopts the redundant transducer with identical function in order to measure same measured amount usually.Namely after a certain passage there occurs measurement fault, the measuring-signal of remaining passage still can normally work, guarantee that system has operable useful signal to provide the measuring-signal resolved in order to control law for flight control system, ensure the flying quality of aircraft or tasks carrying power substantially constant (or decrease to a certain extent, but can accept).
When the many hardware corridors of current employing form redundant system, in order to avoid the concurrent fault that identical hardware and software causes, redundant system often uses diverse hardware and software to form dissimilar redundancy.But no matter be similar redundancy or dissimilar redundancy, the hard remaining of this many covers has an essential weakness, and namely its basic mean free error time can decline at double along with the increase of hardware remaining.
Analytic redundancy does not need to increase hardware but provides remaining by the method for parsing for aircraft sensor.The measured value of sensor estimates by the optimal estimation in usual use modern control theory or the method for artificial intelligence.When after certain sensor failure, just replace measured value by this estimated value, Flight Control Law is normally resolved, reliably performs with the safe flight and task that ensure aircraft.
Participate in the sensor that control law resolves in current flight control system directly and usually adopt hardware triplex redundance or four redundancy architectures.When a certain channel sensor breaks down, for triplex redundance or four redundant sensor system, monitoring voting machine passes through majority rule, failure judgement passage, thus can isolated fault passage, now former design redundant system remaining grade reduction further.
For triplex redundance monitoring voting system, when occurring primary fault, reduce to two remaining, if there is primary fault again, then occur the situation of 1:1, now monitoring voting system cannot failure judgement passage, flight control system can cut off all passages, and control law lost efficacy, as Fig. 1.Therefore, in fact triplex redundance monitoring voting system can only realize primary fault/job class.For four redundant systems, if fault occurs separately, secondary failure/job class can be realized; And if two passage simultaneous faultss, namely there is 2:2 situation, monitoring voting system cannot failure judgement passage, and flight control system can cut off all passages, and control law lost efficacy.Therefore, in fact four redundant systems can only realize secondary failure/job class or non-fault/job class.It can thus be appreciated that the fault/job class of plain hardware redundant system is actually lower.
Adopt the method increasing further sensor hardware remaining can improve the reliability of sensor measurement, but this also directly band serve very important shortcoming:
1. add the complicacy of flight control system and voting supervisory system;
2. increase the mean free error time that sensor hardware remaining reduces flight control system, and system processing, assembling, production, the work difficulty safeguarded and workpiece amount are increased greatly;
3. add take-off weight and the cost of development of aircraft.
Thus, in this case, if have one not increase aircraft development cost, do not increase the backup signal of analytic redundancy signal as sensing system of aircraft later maintenance difficulty, under the state that sensor occurs above-mentioned fault or occurs 1:1 or 2:2 in Sensor monitoring voting system, this backup signal can provide control law to resolve required key sensor information for flight control system, ensure that the control law that calculates has higher accuracy and feasibility, thus make aircraft can safe flight and the tasks carrying power had to a certain degree.
Summary of the invention
The present invention proposes a kind of flight control system sensor mixing remaining method based on resolving reconstruction signal, described mixing remaining method design parsing reconstruction signal, in current sensor system worked well situation, resolve reconstruction signal only as Hot Spare signal, do not participate in the voting strategy monitoring voting system; Once the voting result exception occurring monitoring voting system, start Hot Spare signal and participate in voting, each measurement value sensor and this are resolved reconstruction signal and are compared by monitoring voting system, and provide correct measured value output.Like this, can utilize when 1:1 or 2:2 situation appears in hardware sensor redundant system and resolve reconstruction signal assistance judgement and isolated fault sensor passage, an approximate correct sensor signal can be provided when the whole fault of hardware sensor redundant system to resolve for control law, still can ensure that aircraft security flies.Mixing remaining method provided by the invention can make triplex redundance or four redundant systems all improve two fault/job classes.
Described mixing remaining method provided by the invention comprises the steps:
The first step, gathers the measured value of triplex redundance sensing system.
The measured value of each sensor is designated as X respectively
1, X
2, X
3, by monitoring voting system, be divided into following several situation to put to the vote:
(1) | X
1-X
2| < ε, | X
1-X
3| < ε, | X
2-X
3| < ε, sets up simultaneously, turns second step;
(2) | X
1-X
2|>=ε, | X
1-X
3|>=ε, | X
2-X
3| < ε, measured value is X
1first sensor be fault sensor; There is primary transducer fault, turn the 3rd step;
(3) | X
1-X
2|>=ε, | X
1-X
3| < ε, | X
2-X
3|>=ε, measured value is X
2the second sensor be fault sensor; There is primary transducer fault, turn the 3rd step;
(4) | X
1-X
2| < ε, | X
1-X
3|>=ε, | X
2-X
3|>=ε, measured value is X
3the 3rd sensor be fault sensor; There is primary transducer fault, turn the 3rd step;
If above-mentioned four kinds of situations all do not meet, turn the 4th step;
Wherein, ε is sensor acceptable threshold.
Second step, monitoring voting system exports the intermediate value of three measured values as voting result, and sensor states is non-fault sensor;
3rd step, after current sensor system generation primary transducer fault, the faulty channel of monitoring voting system to fault sensor is isolated, and parsing reconstruction signal forms with remaining channel signal and mixes triplex redundance system;
Suppose that measured value is X
3the 3rd sensor be fault sensor (namely (4) in situation), after faulty channel isolation, there is the voting result of 1:1 in monitoring voting system, therefore now needs introducing the 3rd value namely to resolve reconstruction signal X
3', participate in monitoring voting system, concrete voting process is:
Resolve reconstruction signal X
3' with the measured value X of two normal sensors
1and X
2composition mixing triplex redundance system, a point following several situation is put to the vote:
(a) | X
1-X
3' | < ε and | X
2-X
3' | < ε, then think non-fault sensor, monitoring voting system exports X
3', X
1, X
2in intermediate value;
(b) | X
1-X
3' |>=ε and | X
2-X
3' | < ε, measured value is X
1first sensor be fault sensor, namely occur secondary sensor fault, monitoring voting system exports the measured value X of the second sensor
2;
(c) | X
1-X
3' | < ε and | X
2-X
3' |>=ε, measured value is X
2the second sensor be fault sensor, namely occur secondary sensor fault, monitoring voting system exports the measured value X of first sensor
1;
If above-mentioned three kinds of situations all do not meet, then turn the 4th step;
4th step, three sensors are fault sensor, export and resolve reconstruction signal X
3'.
The invention has the advantages that:
The method of employing analytic redundancy process flight control system sensor fault of the present invention, improves the simple ability relying on hardware remaining processes sensor fault, improves remaining grade and the fault/working level of sensing system.This method does not change the mean free error time of sensor redundant system while improving remaining grade, owing to adopting analytic redundancy, the hardware maintenance difficulty in later stage also reduces greatly, if the correctness of analytic signal can be ensured, the hardware redundant configurations of sensing system suitably can also be reduced.
Accompanying drawing explanation
Fig. 1 current main-stream triplex redundance monitoring voting system realizes theory diagram;
Fig. 2 is the flight control system sensor mixing remaining Method And Principle block diagram based on resolving reconstruction signal provided by the invention;
Fig. 3 mixes remaining algorithm flow chart in the present invention;
Fig. 3 a is voting algorithm process flow diagram when mixing triplex redundance sensing system non-fault and generation primary fault in remaining method in the present invention;
Fig. 3 b forms with parsing reconstruction signal the voting algorithm process flow diagram mixing triplex redundance system after triplex redundance sensing system primary fault in the present invention.
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in more detail.
The invention provides a kind of flight control system sensor mixing remaining method based on resolving reconstruction signal, as shown in Figures 2 and 3, when sensing system non-fault sensor, directly by monitoring voting system (comprising comparer and voting machine) output transducer state and voting result; For triplex redundance sensing system, when occurring primary transducer fault, monitoring voting system can realize isolating sensor fault, when triplex redundance sensor generation secondary failure, the voting result of monitoring voting system is 1:1, now can not identify fault sensor only by original monitoring voting system, therefore adopt mixing remaining method provided by the invention, utilize and resolve reconstruction signal, composition triplex redundance system realizes the output of voting result and sensor states; When the voting result of 2:2 appears in four redundant sensor system, mixing remaining method provided by the invention also to be adopted to provide parsing reconstruction signal to assist voting result.Provide mixing remaining method provided by the invention in detail for triplex redundance sensing system below, composition graphs 3a and Fig. 3 b, specific implementation step is as follows:
The first step, gathers the measured value of triplex redundance sensing system.
The measured value of each sensor is designated as X respectively
1, X
2, X
3, by monitoring voting system, as shown in Figure 3 a, be divided into following several situation to put to the vote:
(1) | X
1-X
2| < ε, | X
1-X
3| < ε, | X
2-X
3| < ε, set up simultaneously,
(2) | X
1-X
2|>=ε, | X
1-X
3|>=ε, | X
2-X
3| < ε, measured value is X
1first sensor be fault sensor;
(3) | X
1-X
2|>=ε, | X
1-X
3| < ε, | X
2-X
3|>=ε, measured value is X
2the second sensor be fault sensor;
(4) | X
1-X
2| < ε, | X
1-X
3|>=ε, | X
2-X
3|>=ε, measured value is X
3the 3rd sensor be fault sensor;
Plant situation for (1), turn second step;
For any one in (2) ~ (4) kind situation, there is primary transducer fault, turn the 3rd step,
If above-mentioned four kinds of situations all do not meet, turn the 4th step,
Wherein, ε is sensor acceptable threshold,
Second step, monitoring voting system exports the intermediate value of three measured values, non-fault sensor;
3rd step, after current sensor system generation primary transducer fault, the faulty channel of monitoring voting system to fault sensor is isolated, and parsing reconstruction signal forms with measured value and mixes triplex redundance system;
Suppose that measured value is X
3the 3rd sensor be fault sensor, after faulty channel isolation, monitoring voting system occurs the voting result of 1:1 therefore now needing introducing the 3rd value namely to resolve reconstruction signal X
3', participate in monitoring voting system, composition graphs 3b, concrete voting process is:
Resolve reconstruction signal X
3' with the measured value X of two normal sensors
1and X
2composition mixing redundant system, a point following several situation is put to the vote:
(a) | X
1-X
3' | < ε and | X
2-X
3' | < ε, then think non-fault sensor, monitoring voting system exports X
3' with X
1and X
2in intermediate value;
(b) | X
1-X
3' |>=ε and | X
2-X
3' | < ε, measured value is X
1first sensor be fault sensor, namely occur secondary sensor fault, monitoring voting system exports the measured value X of the second sensor
2;
(c) | X
1-X
3' | < ε and | X
2-X
3' |>=ε, measured value is X
2the second sensor be fault sensor, namely occur secondary sensor fault, monitoring voting system exports the measured value X of first sensor
1;
If above-mentioned three kinds of situations all do not meet, then turn the 4th step;
4th step, three sensors are fault sensor, export and resolve reconstruction signal X
3'.
By above-mentioned mixing remaining method, when triplex redundance sensing system generation secondary sensor fault, utilize and resolve reconstruction signal participation voting, judge and isolated fault passage, under can be implemented in secondary sensor fault, still ensure that one is resolved reconstruction signal and a nominal sensor job, now system degradation is two remainings.This compares traditional triplex redundance system, and remaining grade improves two grades.
The redundant sensor system of current flight control system (abbreviation flight control system), adopt redundant transducer structure (2 or more sensor), and carry out majority voting by monitoring voting system (comprising comparer and voting machine).When certain sensor failure, the sensor made mistake by monitoring voting system identification, and fault sensor is isolated.But when the voting result of redundant transducer structure is 1:1 or 2:2, monitoring voting system then can not identify fault sensor, now monitoring voting thrashing.As single fault/work can only be realized for triplex redundance system; And for four redundant systems, if single fault situation, the remaining grade of secondary failure/work can be realized; If there is 2:2 situation then non-fault/job class, the fault/job class of thus simple hardware remaining is lower.And if merely by improving the hardware remaining of sensor, overall system cost and the difficulty of subsequent maintenance also considerably increase.
The present invention proposes to adopt the method for resolving reconstruction signal to improve the remaining grade of sensing system.When there is the voting result of 1:1 or 2:2, resolving reconstruction signal for monitoring voting system provides a correct backup signal, thus making after there is the hardware fault causing as above monitoring voting thrashing, monitoring voting system endure, improves the reliability of sensing system.
The design of described parsing reconstruction signal, with the measured value of other sensing systems beyond this sensing system for foundation, according to two sensing systems measured value between kinematic relation, the measured value calculating this sensing system is as parsing reconstruction signal.For tri-axis angular rate sensor system malfunctions, for the flight control system (abbreviation flight control system) containing vertical gyro, tri-axis angular rate can be reconstructed by the Eulerian angle of aircraft:
Difference equation form is:
Wherein, p, q, r are respectively the tri-axis angular rate signal of aircraft, p (k), q (k), and r (k) is respectively the tri-axis angular rate signal of a flight control system kth sampled point of aircraft, as parsing reconstruction signal
be respectively the Eulerian angle of aircraft and the differential of corresponding Eulerian angle, k is a flight control system kth sampled point, and T is the flight control system sampling period.
The invention provides analytic signal Configuration design principle:
1). require that resolving reconstruction signal can have higher similarity with current sensor measured value, namely resolving reconstruction signal will be consistent in sensor acceptable threshold ε with real measured value;
2). from hardware sensor failover to the process of resolving reconstruction signal, require that aircraft flight is steady, the control signal that aircraft inner ring control law calculates is not undergone mutation;
3). the acquisition of resolving reconstruction signal more easily realizes, and can realize on flight-control computer, other sensing systems that the acquisition of resolving reconstruction signal relies on, and installs on board the aircraft.
According to the principle of design of above-mentioned parsing reconstruction signal, for general aircraft, the parsing reconstruction signal of tri-axis angular rate signal is obtained by Eulerian angle; Normal g-load signal increment Delta n
z(aircraft under baseline locomotor due to additional overload that driver behavior causes), can be reconstructed by the pitch rate of aircraft and control surface, computing method are as follows:
Wherein, V is the air speed of aircraft, Z
αfor lift is to the aerodynamic derivative (being calculated by blowing data) of the angle of attack, g is local gravitational acceleration,
for lift is to the aerodynamic derivative of control surface, Δ δ
efor control surface increment,
wherein q is pitch rate, and s is the complex variable in Laplace transform.
Claims (3)
1., based on the flight control system sensor mixing remaining method of resolving reconstruction signal, it is characterized in that: comprise the steps,
The first step, gathers the measured value of triplex redundance sensing system;
The measured value of each sensor is designated as X respectively
1, X
2, X
3, by monitoring voting system, be divided into following several situation to put to the vote:
(1) | X
1-X
2| < ε, | X
1-X
3| < ε, | X
2-X
3| < ε, sets up simultaneously, turns second step;
(2) | X
1-X
2|>=ε, | X
1-X
3|>=ε, | X
2-X
3| < ε, measured value is X
1first sensor be fault sensor; There is primary transducer fault, turn the 3rd step;
(3) | X
1-X
2|>=ε, | X
1-X
3| < ε, | X
2-X
3|>=ε, measured value is X
2the second sensor be fault sensor; There is primary transducer fault, turn the 3rd step;
(4) | X
1-X
2| < ε, | X
1-X
3|>=ε, | X
2-X
3|>=ε, measured value is X
3the 3rd sensor be fault sensor; There is primary transducer fault, turn the 3rd step;
If above-mentioned four kinds of situations all do not meet, turn the 4th step;
Wherein, ε is sensor acceptable threshold;
Second step, monitoring voting system exports the intermediate value of three measured values as voting result, and sensor states is non-fault sensor;
3rd step, after current sensor system generation primary transducer fault, the faulty channel of monitoring voting system to fault sensor is isolated, and parsing reconstruction signal forms with remaining channel signal and mixes triplex redundance system;
Suppose that measured value is X
3the 3rd sensor be fault sensor, after faulty channel isolation, there is the voting result of 1:1 in monitoring voting system, therefore now needs to introduce and resolve reconstruction signal X '
3, participate in monitoring voting system, concrete voting process is:
Resolve reconstruction signal X '
3with the measured value X of two normal sensors
1and X
2composition mixing triplex redundance system, a point following several situation is put to the vote:
(a) | X
1-X '
3| < ε and | X
2-X '
3| < ε, then think non-fault sensor, monitoring voting system exports X '
3, X
1, X
2in intermediate value;
(b) | X
1-X '
3|>=ε and | X
2-X '
3| < ε, measured value is X
1first sensor be fault sensor, namely occur secondary sensor fault, monitoring voting system exports the measured value X of the second sensor
2;
(c) | X
1-X '
3| < ε and | X
2-X '
3|>=ε, measured value is X
2the second sensor be fault sensor, namely occur secondary sensor fault, monitoring voting system exports the measured value X of first sensor
1;
If above-mentioned three kinds of situations all do not meet, then turn the 4th step;
4th step, three sensors are fault sensor, export and resolve reconstruction signal X '
3.
2. the flight control system sensor mixing remaining method based on resolving reconstruction signal according to claim 1, is characterized in that: the principle of design of described parsing reconstruction signal is:
(1). require that resolving reconstruction signal can have higher similarity with current sensor measured value, namely resolving reconstruction signal will be consistent in sensor acceptable threshold ε with real measured value;
(2). from hardware sensor failover to the process of resolving reconstruction signal, require that aircraft flight is steady, the control signal that aircraft inner ring control law calculates is not undergone mutation;
(3). the acquisition of resolving reconstruction signal can realize on flight-control computer, other sensing systems that the acquisition of resolving reconstruction signal relies on, and installs on board the aircraft.
3. the flight control system sensor mixing remaining method based on resolving reconstruction signal according to claim 1 and 2, it is characterized in that: described parsing reconstruction signal is tri-axis angular rate signal, is reconstructed according to the kinematic relation between tri-axis angular rate signal and the Eulerian angle of aircraft.
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