CN105116717A - Quad-redundant signal monitoring method and device - Google Patents
Quad-redundant signal monitoring method and device Download PDFInfo
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- CN105116717A CN105116717A CN201510493188.2A CN201510493188A CN105116717A CN 105116717 A CN105116717 A CN 105116717A CN 201510493188 A CN201510493188 A CN 201510493188A CN 105116717 A CN105116717 A CN 105116717A
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Abstract
The invention provides a quad-redundant signal monitoring method and a device. The method comprises a step of setting three monitoring thresholds for quad-redundant signal monitoring, wherein the three monitoring thresholds are a return gate L1 with a minimum threshold, a storage gate L2 with a middle threshold and a fault gate L3 with a maximum threshold, a step of determining a signal permanent fault and abandoning the use of the signal when the absolute value of the difference between one signal in four redundant signals and a voting value is larger than the fault gate L3 for more than a first predetermined time, a step of determining signal abnormality and abandoning the use of the signal temporarily when the absolute value of the difference between one signal in four redundant signals and the voting value is larger than the storage gate L2 for more than a second predetermined time, and a step of redefining a normal signal when the absolute value of the difference between the determined abnormal signal and the voting value returns to the return gate L1 for more than a third predetermined time. According to the method and the device, the primary judgment and confirmation process of a redundant signal fault is realized, the false alarm and wrong alarm of fault diagnosis are reduced, the precision of high redundant signal collection is ensured, and the fault downgrade speed of a redundant signal is reduced.
Description
Technical field
The disclosure relates to fly-by-wire flight control system failure monitoring, particularly relates to a kind of three sect method and apparatus of four remaining signal fault monitoring.
Background technology
The application of fly-by-wire flight control system, gives and optimizes aeroplane performance, alleviate driver's burden and provide opportunity, but also bring certain risk.Such as, in fly-by-wire flight control system, the inefficacy of flight-control computer or sensor can make aircraft be in uncontrollable state immediately.In order to head it off, in fly-by-wire flight control system design, generally adopt the fault-tolerant architectural framework of redundance.Namely all there is remaining from flight control computer, sensor to the configuration of actuator.
Redundancy management technology is the key of fly-by-wire flight control system design.Its objective is the safety and reliability improving fly-by-wire flight control system, ensure that fly-by-wire flight control system can detect fault in real time when remaining unit failure, tracing trouble type, subsequently process is carried out to fault and completion system reconstruct.When guaranteeing system jam, the performance loss of system is reduced to minimum, thus ensures flight safety.
In the design of manned aircraft fly-by-wire flight control system, substantially all have employed the architectural framework of four remainings.Whether exceed threshold value to determine mainly through the difference between remaining signal to the monitoring of remaining signal fault.If threshold value arranges too high, easily cause system malfunctions and can not detect, thus introducing rub-out signal when system works; If threshold value arranges too low, easily causing correct signal false judgment is fault-signal, and degradation is fast.
Select large to solve threshold value and select little contradictory problems, in fly-by-wire flight control system redundancy management, have employed the mentality of designing becoming thresholding at present, namely according to large young pathbreaker's thresholding segmentation of signal.As shown in Figure 1, when signal less (being less than I1), adopt Lower Threshold L1; When signal comparatively large (being greater than I2), adopt Upper threshold L2; When signal is between L1 and L2, threshold value linearly increases along with the increase of signal value.
Summary of the invention
But although the error between remaining signal can affect by signal magnitude factor, the impact by signal magnitude is less, but larger by such environmental effects.Therefore the strategy becoming thresholding can not solve the choosing of monitoring thresholding large, select little between contradiction, and make monitoring thresholding wider range owing to becoming thresholding, make it introduce the common problem of size thresholding simultaneously.
In view of this, the disclosure aims to provide a kind of three sect methods of four remaining signal fault monitoring.
According to one side of the present disclosure, provide a kind of four remaining signal monitoring methods.The method comprises: be that four remaining signal monitorings arrange three road monitoring thresholdings, that is, have the return door L1 of minimum threshold, have sealing a L2 up for safekeeping and having the fault door L3 of maximum threshold of intermediate door limit value; When four remaining signals wherein a signal and the absolute value of the nearest effectively difference of vote value be greater than fault door L3 continued to exceed for first schedule time time, determine this signal permanent fault, abandon using; When four remaining signals wherein a signal and the absolute value of the nearest effectively difference of vote value be greater than seal up for safekeeping a L2 continued to exceed for second schedule time time, determine this abnormal signal, temporarily abandon using; And when determined abnormal signal and the absolute value of the nearest effectively difference of vote value get back in return door L1 continued to exceed for the 3rd schedule time time, it is normal for redefining this signal.
According to an embodiment, this method for supervising can also comprise: after primary fault appears in this four remainings signal, the value of return door L1 be set to identical with the value of sealing a L2 up for safekeeping, and voting policing algorithm is constant.
According to another embodiment, this method for supervising can also comprise: after this four remainings signal occurs that secondary failure or secondary are extremely, cancel return door L1 and seal a L2 up for safekeeping.
According to another aspect of the present disclosure, provide a kind of four remaining signal monitoring apparatus.This device comprises: input block, for inputting four remaining signals; Monitoring unit, for use three roads monitoring thresholdings monitor four remaining signals, three road control doors be limited to there is minimum threshold return door L1, there is sealing a L2 up for safekeeping and having the fault door L3 of maximum threshold of intermediate door limit value; And output unit, for the monitored results of output monitoring unit, wherein, when four remaining signals wherein a signal and the absolute value of the nearest effectively difference of vote value be greater than fault door L3 continued to exceed for first schedule time time, monitoring unit determination signal permanent fault, abandons using; When four remaining signals wherein a signal and the absolute value of the nearest effectively difference of vote value be greater than seal up for safekeeping a L2 continued to exceed for second schedule time time, monitoring unit determination abnormal signal, temporarily abandons using; And when determined abnormal signal and the absolute value of the nearest effectively difference of vote value get back in return door L1 continued to exceed for the 3rd schedule time time, it is normal that monitoring unit redefines signal.
According to four remaining signal monitoring methods of the present disclosure can solve the misuse of remaining signal and mistake sentence thus problem, and impact on system when reducing the skew of remaining signal, slows down remaining degradation of signals.
Accompanying drawing explanation
Fig. 1 is the curve map of the principle of the change thresholding strategy schematically showing existing remaining signal monitoring.
Fig. 2 is the schematic diagram of three sect methods of the remaining signal monitoring illustrated according to disclosure embodiment.
Embodiment
Below in conjunction with Fig. 2, the disclosure is described in detail.Fig. 2 is the schematic diagram of three sect methods of the remaining signal monitoring illustrated according to disclosure embodiment.
As shown in Figure 2, be that four remaining signal monitorings arrange three road monitoring thresholdings.That is, there is the return door L1 of minimum threshold, there is sealing a L2 up for safekeeping and having the fault door L3 of maximum threshold of intermediate door limit value.
At this three sect of use in the monitoring of four remaining signals, use following method for supervising.
When the absolute value of the difference of certain signal in four remaining signals and vote value be greater than fault door L3 continued to exceed for first schedule time time, determine this signal permanent fault, abandon using this signal.First schedule time is such as but not limited to 12.5ms, 20ms etc.The occurrence of fault door L3 can be determined according to system requirements.Such as, fault door L3 can be determined based on experience value.This vote value is nearest effective vote value.
When the absolute value of the difference of certain signal in four remaining signals and vote value be greater than seal up for safekeeping a L2 continued to exceed for second schedule time time, determine this abnormal signal, temporarily abandon using this signal.Second schedule time is such as but not limited to 12.5ms, 20ms etc.Second schedule time can from first schedule time arrange identical also can be different, determine according to concrete needs.The occurrence sealing a L2 up for safekeeping can be determined according to system requirements.Such as, can determine to seal a L2 up for safekeeping on the acceptable degree of the impact of system according to the difference between sensor.
When the absolute value of the difference of determined abnormal signal and vote value get back in return door L1 continued to exceed for the 3rd schedule time time, it is normal for redefining this signal.3rd schedule time is such as but not limited to 12.5ms, 20ms etc.3rd schedule time can from first and second schedule time arrange identical also can be different, determine according to concrete needs.The occurrence of return door L1 can be determined according to system requirements.Such as, a return door L1 can be determined by statistics sensor measurement error range under normal circumstances.
According to above scheme, overcome by the method for multi-threshold the problem that in redundancy management, single thresholding shows, provide signal and tentatively isolate the rear mechanism recovering to use, improve the reliability that signal uses, slow down the speed of degradation.
Further, in one embodiment, after primary fault appears in four remaining signals, the value of return door L1 can be set to identical with the value of sealing a L2 up for safekeeping.Then, continue to use above-described voting policing algorithm to monitor.This can slow down the speed of degradation further.
Further, in one embodiment, after four remaining signals occur that secondary failure or secondary are extremely, return door L1 can be cancelled and seal a L2 up for safekeeping, only retention fault door L3.This can slow down the speed of degradation further, does not abandon any one remaining signal easily.
In addition, the disclosure can also provide a kind of four remaining signal monitoring apparatus (not shown)s.This device can comprise: input block, for inputting four remaining signals; Monitoring unit, for use three roads monitoring thresholdings monitor four remaining signals, three road control doors be limited to there is minimum threshold return door L1, there is sealing a L2 up for safekeeping and having the fault door L3 of maximum threshold of intermediate door limit value; And output unit, for the monitored results of output monitoring unit.When four remaining signals wherein a signal and the absolute value of the nearest effectively difference of vote value be greater than fault door L3 continued to exceed for first schedule time time, monitoring unit can determine signal permanent fault, abandons using; When four remaining signals wherein a signal and the absolute value of the nearest effectively difference of vote value be greater than seal up for safekeeping a L2 continued to exceed for second schedule time time, monitoring unit can determine abnormal signal, temporarily abandons using; And when determined abnormal signal and the absolute value of the nearest effectively difference of vote value get back in return door L1 continued to exceed for the 3rd schedule time time, it is normal that monitoring unit can redefine signal.Similar with said method, be no longer described in detail here.
In sum, the principle that the disclosure is separated based on contradiction, is decomposed into three thresholdings by traditional simple gate limit, achieves the layering monitoring of remaining signal.By isolating the local of remaining abnormal signal, achieve the reliability that remaining signal uses; Reduce the false-alarm of remaining fault by the method for " reinspection " to abnormal signal, " observe and confirm " again simultaneously, slow down the degradation of remaining signal.Ensure the precision of high remaining signals collecting by the conversion of thresholding after high remaining and remaining degradation, slow down the degradation speed of remaining signal simultaneously.
The above; be only specific embodiment of the present disclosure, but protection domain of the present disclosure is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the disclosure discloses; change can be expected easily or replace, all should be encompassed within protection domain of the present disclosure.Therefore, protection domain of the present disclosure should described be as the criterion with the protection domain of claim.
Claims (4)
1. four remaining signal monitoring methods, comprising:
Be that four remaining signal monitorings arrange three road monitoring thresholdings, that is, there is the return door L1 of minimum threshold, there is sealing a L2 up for safekeeping and having the fault door L3 of maximum threshold of intermediate door limit value;
When four remaining signals wherein a signal and the absolute value of the nearest effectively difference of vote value be greater than fault door L3 continued to exceed for first schedule time time, determine described signal permanent fault, abandon using;
When four remaining signals wherein a signal and the absolute value of the nearest effectively difference of vote value be greater than seal up for safekeeping a L2 continued to exceed for second schedule time time, determine described abnormal signal, temporarily abandon using; And
When determined abnormal signal and the absolute value of the nearest effectively difference of vote value get back in return door L1 continued to exceed for the 3rd schedule time time, it is normal for redefining described signal.
2. method for supervising according to claim 1, also comprises:
After primary fault appears in described four remaining signals, the value of return door L1 be set to identical with the value of sealing a L2 up for safekeeping, voting policing algorithm is constant.
3. method for supervising according to claim 1 and 2, also comprises:
After described four remaining signals occur that secondary failure or secondary are extremely, cancel return door L1 and seal a L2 up for safekeeping.
4. four remaining signal monitoring apparatus, comprising:
Input block, for inputting four remaining signals;
Monitoring unit, for use three roads monitoring thresholdings monitoring described four remaining signals, described three road control doors be limited to there is minimum threshold return door L1, there is sealing a L2 up for safekeeping and having the fault door L3 of maximum threshold of intermediate door limit value; And
Output unit, for exporting the monitored results of described monitoring unit, wherein,
When four remaining signals wherein a signal and the absolute value of the nearest effectively difference of vote value be greater than fault door L3 continued to exceed for first schedule time time, described monitoring unit determines described signal permanent fault, abandons using;
When four remaining signals wherein a signal and the absolute value of the nearest effectively difference of vote value be greater than seal up for safekeeping a L2 continued to exceed for second schedule time time, described monitoring unit determines described abnormal signal, temporarily abandons using; And
When determined abnormal signal and the absolute value of the nearest effectively difference of vote value get back in return door L1 continued to exceed for the 3rd schedule time time, it is normal that described monitoring unit redefines described signal.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111679999A (en) * | 2020-06-16 | 2020-09-18 | 四川省天域航通科技有限公司 | Sensor signal redundancy management method for large-scale freight transport unmanned aerial vehicle |
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