CN104678764B - Flight control system sensor mixing remaining method based on parsing reconstruction signal - Google Patents
Flight control system sensor mixing remaining method based on parsing reconstruction signal Download PDFInfo
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Abstract
The invention discloses a kind of flight control system sensor mixing remaining method based on parsing reconstruction signal, it is related to flying vehicles control technical field.Described mixing remaining method devises parsing reconstruction signal, and in the case of current sensor system worked well, parsing reconstruction signal is only used as Hot Spare signal, is not involved in monitoring the voting strategy of voting system；When voting result monitoring voting system is abnormal, starts Hot Spare signal and participate in voting, each measurement value sensor is compared with this parsing reconstruction signal by monitoring voting system, and provide correct measured value output.So, improve the simple ability relying on hardware remaining process sensor fault, improve remaining grade and the fault/working level of sensing system；The hardware maintenance difficulty in later stage is greatly reduced, if can ensure that the correctness of analytic signal, can also suitably reduce the hardware redundant configurations of sensing system.
Description
Technical field
The present invention relates to flying vehicles control technical field, one kind is especially provided to pass using parsing reconfiguration technique identification angular speed
Sensor fault and the method for reconstruct angle rate signal.Specifically, refer to a kind of flight control system biography based on parsing reconstruction signal
Sensor mixes remaining method, is to consist of parsing reconstruction signal with hardware redundant system to mix redundant system to improve sensor
The method of system reliability.
Background technology
In order to improve the reliability of aircraft measurement system, the measuring system of contemporary aircraft is generally using having identical work(
The redundant transducer of energy is in order to measure same measured amount.I.e. after a certain passage there occurs measurement fault, remaining passage
Measurement signal remains to normal work it is ensured that system has the useful signal that can use to provide in order to control law for flight control system
The measurement signal that resolves is it is ensured that the flying quality of aircraft or tasks carrying power are basically unchanged (or has dropped to a certain extent
Low, but be subjected to).
When currently employed many hardware corridors constitute redundant system, in order to avoid the concurrent that identical hardware and software causes is former
Barrier, redundant system often forms dissimilar redundancy using diverse hardware and software.But either similar redundancy also right and wrong
Similar redundancy, the hard remaining of this many sets has an essential weakness, and that is, its basic mean free error time can be with hardware remaining
Increase and decline at double.
Analytic redundancy does not need to increase hardware but provides remaining with the method for parsing for aircraft sensor.It is usually used
The measured value of sensor is estimated by the method for the optimal estimation in modern control theory or artificial intelligence.When certain sensor
After breaking down, just replace measured value with this estimated value, so that Flight Control Law is normally resolved, to ensure the peace of aircraft
Full flight and task reliably execute.
The sensor directly participating in control law resolving at present in flight control system generally adopts hardware triplex redundance or four
Redundancy architecture.When a certain channel sensor breaks down, for triplex redundance or four redundant sensor system, monitor voting machine and lead to
Cross majority rule, failure judgement passage, such that it is able to further isolated fault passage, now original design redundant system
Remaining grade reduces.
Voting system is monitored for triplex redundance, when primary fault occurs, is reduced to double remainings, if there is once event again
Barrier, then occur 1:1 situation, now monitoring voting system cannot failure judgement passage, flight control system can cut off all passages, control
System rule lost efficacy, such as Fig. 1.Therefore, triplex redundance monitoring voting system actually can only realize primary fault/job class.For four
Redundant system, if fault individually occurs, it is possible to achieve secondary failure/job class；And if two passage events simultaneously
Barrier, that is, occur 2:2 situations, monitoring voting system cannot failure judgement passage, flight control system can cut off all passages, and control law loses
Effect.Therefore, four redundant systems actually can only realize secondary failure/job class or fault-free/job class.It follows that
Fault/the job class of plain hardware redundant system is actually than relatively low.
The reliability of sensor measurement can be improved using the method increasing sensor hardware remaining further, but this is also straight
Tape splicing carrys out some very important shortcomings：
1. increased flight control system and the complexity of voting monitoring system；
2. increase the mean free error time that sensor hardware remaining reduces flight control system, and make system processing, dress
The work difficulty join, produce, safeguarded and workpiece amount greatly increase；
3. increased take-off weight and the development cost of aircraft.
Thus, in this case, do not increase aircraft development cost, do not increase aircraft later maintenance if there are one
, as the backup signal of sensing system, above-mentioned fault or in Sensor monitoring in sensor in the analytic redundancy signal of difficulty
Voting system occurs 1:1 or 2:In the state of 2, it is required that this backup signal can provide control law to resolve for flight control system
The key sensor information wanted is it is ensured that the control law calculating has higher accuracy and feasibility, so that aircraft
Being capable of safe flight and there is a certain degree of tasks carrying power.
Content of the invention
The present invention proposes a kind of flight control system sensor mixing remaining method based on parsing reconstruction signal, described mixing
Remaining method devises parsing reconstruction signal, and in the case of current sensor system worked well, parsing reconstruction signal is only used as
Hot Spare signal, is not involved in monitoring the voting strategy of voting system；When voting result monitoring voting system is abnormal,
Start Hot Spare signal and participate in voting, each measurement value sensor is compared with this parsing reconstruction signal by monitoring voting system
Relatively, and provide the output of correct measured value.So, when hardware sensor redundant system occurs 1:1 or 2:Can utilize during 2 situation
Parsing reconstruction signal assists to judge and isolated fault sensor passage, can carry in the whole fault of hardware sensor redundant system
For one approximately correct sensor signal be used for control law and resolve, still can ensure that aircraft security flies.The present invention provides
Mixing remaining method triplex redundance or four redundant systems can be made all to improve two fault/job classes.
The described mixing remaining method that the present invention provides comprises the steps：
The first step, the measured value of collection triplex redundance sensing system.
The measured value of each sensor is designated as X respectively1、X2、X3, by monitoring voting system, it is divided into several situations as follows to enter
Row voting：
(1)|X1-X2| ＜ ε, | X1-X3| ＜ ε, | X2-X3| ＜ ε, sets up simultaneously, turns second step；
(2)|X1-X2| >=ε, | X1-X3| >=ε, | X2-X3| ＜ ε, measured value is X1First sensor be fault sensor；
Primary transducer fault occurs, turns the 3rd step；
(3)|X1-X2| >=ε, | X1-X3| ＜ ε, | X2-X3| >=ε, measured value is X2Second sensor be fault sensor；
Primary transducer fault occurs, turns the 3rd step；
(4)|X1-X2| ＜ ε, | X1-X3| >=ε, | X2-X3| >=ε, measured value is X33rd sensor be fault sensor；
Primary transducer fault occurs, turns the 3rd step；
If above-mentioned four kinds of situations are all unsatisfactory for, 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 are no
Fault sensor；
3rd step, after current sensor system occurs primary transducer fault, monitoring voting system is to fault sensor
Faulty channel isolated, parsing reconstruction signal and remaining channel signal form and mix triplex redundance system；
Hypothesis measured value is X33rd sensor be fault sensor (i.e. (4th) in situation), after faulty channel isolation,
Monitoring voting system occurs 1:1 voting result, therefore now needs to introduce the 3rd value and parses reconstruction signal X3', participate in
Arrive monitoring voting system, concrete voting process is：
Parsing reconstruction signal X3' with the measured value X of two normal sensors1And X2Composition mixing triplex redundance system, divides such as
Under several situations put to the vote：
(a)|X1-X3' | ＜ ε and | X2-X3' | ＜ ε, then it is assumed that fault-free sensor, monitors voting system output X3′、X1、
X2In intermediate value；
(b)|X1-X3' | >=ε and | X2-X3' | ＜ ε, measured value is X1First sensor be fault sensor, that is, occur two
Secondary sensor fault, monitoring voting system exports the measured value X of second sensor2；
(c)|X1-X3' | ＜ ε and | X2-X3' | >=ε, measured value is X2Second sensor be fault sensor, that is, occur two
Secondary sensor fault, monitoring voting system exports the measured value X of first sensor1；
If above-mentioned three kinds of situations are all unsatisfactory for, turn the 4th step；
4th step, three sensors are fault sensor, output parsing reconstruction signal X3′.
It is an advantage of the current invention that：
The method that employing analytic redundancy of the present invention processes flight control system sensor fault, improves simple dependence firmly
Part remaining processes the ability of sensor fault, improves remaining grade and the fault/working level of sensing system.This method exists
Do not change the mean free error time of sensor redundant system while improving remaining grade, due to adopting analytic redundancy, after
The hardware maintenance difficulty of phase is greatly reduced, if can ensure that the correctness of analytic signal, can also suitably reduce sensor
The hardware redundant configurations of system.
Brief description
Fig. 1 current main-stream triplex redundance monitoring voting system realizes theory diagram；
The flight control system sensor mixing remaining Method And Principle frame based on parsing reconstruction signal that Fig. 2 provides for the present invention
Figure；
Fig. 3 is to mix remaining algorithm flow chart in the present invention；
Fig. 3 a for triplex redundance sensing system fault-free in mixing remaining method in the present invention and occurs during primary fault
Voting algorithm flow chart；
Fig. 3 b is for mixing triplex redundance with parsing reconstruction signal composition after triplex redundance sensing system primary fault in the present invention
The voting algorithm flow chart of system.
Specific embodiment
Below in conjunction with the accompanying drawings and embodiment is described in more detail to the present invention.
The invention provides a kind of flight control system sensor mixing remaining method based on parsing reconstruction signal, such as Fig. 2 and
Shown in Fig. 3, when sensing system fault-free sensor, directly pass through monitoring voting system (including comparator and voting machine) defeated
Go out sensor states and voting result；For triplex redundance sensing system, when primary transducer fault occurs, monitor voting system
Can realize sensor fault is isolated, when there is secondary failure in triplex redundance sensor, the voting result of monitoring voting system
For 1:1, now cannot recognize that fault sensor only by original monitoring voting system, therefore adopt the present invention to provide
Mixing remaining method, using parsing reconstruction signal, composition triplex redundance system realizes voting result and the output of sensor states；When
Four redundant sensor system occur 2:During 2 voting result, also to provide parsing using the mixing remaining method that the present invention provides
Reconstruction signal assists voting result.The mixing remaining side of present invention offer is provided below taking triplex redundance sensing system as a example
Method, in conjunction with Fig. 3 a and Fig. 3 b, implements step as follows：
The first step, the measured value of collection triplex redundance sensing system.
The measured value of each sensor is designated as X respectively1、X2、X3, by monitor voting system, as shown in Figure 3 a, be divided into as
Under several situations put to the vote：
(1)|X1-X2| ＜ ε, | X1-X3| ＜ ε, | X2-X3| ＜ ε, set up simultaneously,
(2)|X1-X2| >=ε, | X1-X3| >=ε, | X2-X3| ＜ ε, measured value is X1First sensor be fault sensor；
(3)|X1-X2| >=ε, | X1-X3| ＜ ε, | X2-X3| >=ε, measured value is X2Second sensor be fault sensor；
(4)|X1-X2| ＜ ε, | X1-X3| >=ε, | X2-X3| >=ε, measured value is X33rd sensor be fault sensor；
For (1st) kind situation, turn second step；
For any one in (2nd)～(4) kind situation, primary transducer fault occurs, turns the 3rd step,
If above-mentioned four kinds of situations are all unsatisfactory for, turn the 4th step,
Wherein, ε is sensor acceptable threshold,
Second step, monitoring voting system exports the intermediate value of three measured values, fault-free sensor；
3rd step, after current sensor system occurs primary transducer fault, monitoring voting system is to fault sensor
Faulty channel isolated, parsing reconstruction signal and measured value form and mix triplex redundance system；
Hypothesis measured value is X33rd sensor be fault sensor, faulty channel isolation after, monitoring voting system go out
Existing 1:1 voting result, therefore now needs to introduce the 3rd value and parses reconstruction signal X3', participate in monitoring voting system,
In conjunction with Fig. 3 b, concrete voting process is：
Parsing reconstruction signal X3' with the measured value X of two normal sensors1And X2Composition mixing redundant system, divides as follows
Several situations are put to the vote：
(a)|X1-X3' | ＜ ε and | X2-X3' | ＜ ε, then it is assumed that fault-free sensor, monitors voting system output X3' and X1
And X2In intermediate value；
(b)|X1-X3' | >=ε and | X2-X3' | ＜ ε, measured value is X1First sensor be fault sensor, that is, occur two
Secondary sensor fault, monitoring voting system exports the measured value X of second sensor2；
(c)|X1-X3' | ＜ ε and | X2-X3' | >=ε, measured value is X2Second sensor be fault sensor, that is, occur two
Secondary sensor fault, monitoring voting system exports the measured value X of first sensor1；
If above-mentioned three kinds of situations are all unsatisfactory for, turn the 4th step；
4th step, three sensors are fault sensor, output parsing reconstruction signal X3′.
By above-mentioned mixing remaining method, when triplex redundance sensing system occurs secondary sensor fault, using solution
Analysis reconstruction signal participates in voting, judges and isolated fault passage, it is possible to achieve under secondary sensor fault, still ensures a solution
Analysis reconstruction signal and a nominal sensor job, now system degradation is double remaining.This compares traditional triplex redundance system, remaining
Degree grade improves two grades.
The redundant sensor system of current flight control system (abbreviation flight control system), using redundant transducer structure (2
Individual or more sensor), and carry out majority voting by monitoring voting system (including comparator and voting machine).When certain sensing
When device breaks down, by monitoring the sensor that voting system identification makes mistake, and fault sensor is isolated.However,
When the voting result of redundant transducer structure is 1:1 or 2:When 2, monitoring voting system then cannot recognize that fault senses
Device, now monitoring voting system inefficacy.As single fault/work can only be realized for triplex redundance system；And for four redundant systems,
If single fault situation, it is possible to achieve the remaining grade of secondary failure/work；If occurring 2:2 situations then fault-free/work
Make grade, thus the fault/job class of simple hardware remaining is relatively low.And, if merely by improving the hard of sensor
Part remaining, the difficulty of overall system cost and subsequent maintenance also considerably increases.
The present invention proposes to improve the remaining grade of sensing system using the method for parsing reconstruction signal.When generation 1:1 or
2:During 2 voting result, parsing reconstruction signal provides a correct backup signal for monitoring voting system, so that sending out
After the raw hardware fault leading to monitoring voting system to lose efficacy as above, monitoring voting system remains to work, improves sensor
The reliability of system.
The design of described parsing reconstruction signal, the measured value with the other sensors system beyond this sensing system is
Foundation, according to the kinematic relation between the measured value of two sensing systems, calculates the measured value conduct of this sensing system
Parsing reconstruction signal., for the aircraft control containing vertical gyroscope taking tri-axis angular rate sensor system malfunctions as a example
System (abbreviation flight control system) processed, tri-axis angular rate can be reconstructed by the Eulerian angles of aircraft：
Difference equation form is：
Wherein, p, q, r are respectively the tri-axis angular rate signal of aircraft, and p (k), q (k), r (k) are respectively flying of aircraft
The tri-axis angular rate signal of control k-th sampled point of system, as parsing reconstruction signalIt is respectively and fly
The Eulerian angles of row device and the differential of corresponding Eulerian angles, k is k-th sampled point of flight control system, and T is the flight control system sampling period.
The present invention provides analytic signal Configuration design principle：
1). require parsing reconstruction signal can have higher similarity with current sensor measured value, i.e. parsing reconstruct letter
Number to be consistent in sensor acceptable threshold ε with real measured value；
2). it is desirable to aircraft flight steadily, is flown during hardware sensor failover to parsing reconstruction signal
The control signal that device internal ring control law calculates is not undergone mutation；
3). the acquisition of parsing reconstruction signal is easier to realize, and can be realized on flight-control computer, parsing reconstruct letter
Number the other sensors system that relied on of acquisition, install on board the aircraft.
According to the design principle of above-mentioned parsing reconstruction signal, for general aircraft, tri-axis angular rate signal
Parsing reconstruction signal obtained by Eulerian angles；Normal g-load signal increment Delta nz(aircraft under baseline locomotor due to
The additional overload that driver behavior causes), can be reconstructed by the pitch rate of aircraft and control surface, computational methods are such as
Under：
Wherein, V is the air speed of aircraft, ZαFor the aerodynamic derivative (being calculated by blowing data) to the angle of attack for the lift, g is locality
Acceleration of gravity,For the aerodynamic derivative to control surface for the lift, Δ δeFor control surface increment,Wherein q is to bow
Elevation angle speed, s is the complex variable in Laplace transform.
Claims (3)
1. based on parsing reconstruction signal flight control system sensor mixing remaining method it is characterised in that：Comprise the steps,
The first step, the measured value of collection triplex redundance sensing system；
The measured value of each sensor is designated as X respectively1、X2、X3, by monitoring voting system, it is divided into several situations as follows to carry out table
Certainly：
(1)|X1-X2| ＜ ε, | X1-X3| ＜ ε, | X2-X3| ＜ ε, sets up simultaneously, turns second step；
(2)|X1-X2| >=ε, | X1-X3| >=ε, | X2-X3| ＜ ε, measured value is X1First sensor be fault sensor；Occur
Primary transducer fault, turns the 3rd step；
(3)|X1-X2| >=ε, | X1-X3| ＜ ε, | X2-X3| >=ε, measured value is X2Second sensor be fault sensor；Occur
Primary transducer fault, turns the 3rd step；
(4)|X1-X2| ＜ ε, | X1-X3| >=ε, | X2-X3| >=ε, measured value is X33rd sensor be fault sensor；Occur
Primary transducer fault, turns the 3rd step；
If above-mentioned four kinds of situations are all unsatisfactory for, 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 are fault-free
Sensor；
3rd step, after there is primary transducer fault in current sensor system, the event to fault sensor for the monitoring voting system
Barrier passage is isolated, and parsing reconstruction signal mixes triplex redundance system with remaining channel signal composition；
Hypothesis measured value is X33rd sensor be fault sensor, faulty channel isolation after, monitoring voting system occur 1:1
Voting result, therefore now need introduce parsing reconstruction signal X '3, participate in monitoring voting system, concrete voting process is：
Parsing reconstruction signal X '3Measured value X with two normal sensors1And X2Composition mixing triplex redundance system, divides several as follows
The situation of kind is put to the vote：
(a)|X1-X′3| ＜ ε and | X2-X′3| ＜ ε, then it is assumed that fault-free sensor, monitors voting system output X '3、X1、X2In
Intermediate value；
(b)|X1-X′3| >=ε and | X2-X′3| ＜ ε, measured value is X1First sensor be fault sensor, that is, secondary biography occurs
Sensor fault, monitoring voting system exports the measured value X of second sensor2；
(c)|X1-X′3| ＜ ε and | X2-X′3| >=ε, measured value is X2Second sensor be fault sensor, that is, secondary biography occurs
Sensor fault, monitoring voting system exports the measured value X of first sensor1；
If above-mentioned three kinds of situations are all unsatisfactory for, turn the 4th step；
4th step, three sensors are fault sensor, output parsing reconstruction signal X '3.
2. the flight control system sensor mixing remaining method based on parsing reconstruction signal according to claim 1, its feature
It is：The design principle of described parsing reconstruction signal is：
(1). require parsing reconstruction signal can have higher similarity with current sensor measured value, that is, parsing reconstruction signal will
It is consistent in sensor acceptable threshold ε with real measured value；
(2). it is desirable to aircraft flight is steady during hardware sensor failover to parsing reconstruction signal, aircraft
The control signal that internal ring control law calculates is not undergone mutation；
(3). the acquisition of parsing reconstruction signal is realized on flight-control computer, and the acquisition of parsing reconstruction signal is relied on
Other sensors system, install on board the aircraft.
3. the flight control system sensor mixing remaining method based on parsing reconstruction signal according to claim 1 and 2, it is special
Levy and be：Described parsing reconstruction signal is tri-axis angular rate signal, according to the Eulerian angles of tri-axis angular rate signal and aircraft
Between kinematic relation be reconstructed.
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