CN106354930A - Adaptive reconstruction method and system for spacecraft - Google Patents
Adaptive reconstruction method and system for spacecraft Download PDFInfo
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- CN106354930A CN106354930A CN201610757031.0A CN201610757031A CN106354930A CN 106354930 A CN106354930 A CN 106354930A CN 201610757031 A CN201610757031 A CN 201610757031A CN 106354930 A CN106354930 A CN 106354930A
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/15—Vehicle, aircraft or watercraft design
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Abstract
The invention discloses an adaptive reconstruction method and system for a spacecraft. The method comprises the following steps: S1, data acquisition step; S2, mathematical symbol formalizing step; S3, formalized mathematical symbol detecting step; S4, self-reconstruction system feedback step; and S5, self-reconstruction system optimizing step. The system comprises a data acquisition module, a mathematical symbol formalizing module, the formalized mathematical symbol detecting module, a self-reconstruction system feedback module and a self-reconstruction system optimizing module, wherein the mathematical symbol formalizing module is equivalent to a mathematical symbol representation module; and the formalized mathematical symbol detecting module is equivalent to the model detecting module. By the method and system, interaction and interaction effects of four aspects including procedure, hardware, environment and standard are embodied, an actual environment process is simulated really, problems can be found out, adaptive reconstruction can be implemented, and reliability of collaborative design of software and hardware is ensured.
Description
Technical field
The present invention relates to a kind of self-adapting reconstruction method of spacecraft and system.
Background technology
Developing rapidly with spacecraft, spacecraft technology also just plays and more and more widely acts on.With
This simultaneously, the security reliability of aircraft also becomes one of important technology index of spacecraft.Development in 2016 13
In trend study report, on NPC and CPPCC using survey of deep space and spacecraft in-orbit service, with maintenance system as " science and technology wound
One of big major scientific and technological projects of new 2030 major projects " six, and especially Chinese near space vehicle sector application is entered
The analysis of row scientific system ground.The Adaptable System of spacecraft is one of core during its operation, the peace to spacecraft
Complete and stability plays absolute effect.How to improve the fault tolerant mechanism of aircraft and the quick self-adapting reconstruction tackling different scenes
Technology is study hotspot and the emphasis in intelligent aircraft field all the time.
Currently a popular reconstruct flight control technology has been achieved for very big progress, in academia and industrial quarters, can
Using intelligent control technology, when there is local problem in aircraft, the reconstruct damage location of automatic intelligent, overcome fault.This
Invention lays particular emphasis on self adaptation and the reconstruct realizing software by formal method.At present in the side in flight self-adapting reconstruction field
Method mainly includes two classes: one is to provide fault message by fault detect thus completing control law reconstruct, mainly pseudoinverse technique,
Quantitative Feedback reconfigurable control, the method such as synovial membrane control；Two is to be independent of fault detection mechanism, carries out system when aircraft runs
Real-time monitoring identification, dynamic design controls, and main method has a direct adaptive control method, model reference automatic control method, from
Adapt to Quantitative Feedback separation and war control method etc..These methods are each to have respective pluses and minuses by oneself, is generally adopted by from existing discovery
Problem angle carrying out self adaptation, such as machine learning, the principle via Self-reconfiguration such as Quantitative Feedback, thus have higher efficiency and
Extensively apply.However, becoming increasingly complex with aircraft, functional module gets more and more, and traditional method sometimes can not be comprehensively efficient
Discovery potential and be difficult to the problem expected, these are all the significant challenge running in self-adapting reconstruction efficiency and credibility.
The via Self-reconfiguration process of aircraft, can be regarded as a system and constantly carries out self-examination, constantly finds oneself
Mistake, and can rapidly self being repaired, self reconfiguration system, thus the mistake of catastrophic failure that the system that solves runs into
Journey.The methods such as traditional machine learning, error flag, Quantitative Feedback can efficiently tackle a lot of mistakes really.Then, tradition
Method lacks the reliable on tight mathematical logic mostly, and this brings serious difficulty to research and development person, that is, cannot
Confirm whether the software and hardware developed is reliable.
Content of the invention
For some defects of current aircraft adaptation mechanism methods and techniques, the present invention proposes a kind of self adaptation weight
Structure method.
A kind of self-adapting reconstruction method of spacecraft, comprises the steps:
S1: data collection steps, it is used for gathering software data, hardware data and the environmental data of aerocraft system；
S2: mathematical symbol formalization step, the software data collecting, hardware data are converted into mathematical symbol table by it
Show, environmental data is optimized and is converted into formalization mathematical symbolism；
S3: formalization mathematical symbol detecting step, it, according to normalized constraints and formalization theorem, is changed in s2
Become the data code requirement constraints of formalization mathematical symbol and formalization theorem to be detected, detect whether there is deadweight
The structure sequence of operation, forms object information；
S4: self-reconstruction system feedback step, it carries out deadweight based on the object information described in s3 and is configured to reconfiguration information, so
Afterwards described reconfiguration information is fed back to s3 to be used for adjusting described normalized constraints and formalization theorem, simultaneously by described reconstruct
Information is sent to self-reconstruction system optimization step.
S5: self-reconstruction system optimization step, is formed based on the object information described in s3 and the reconfiguration information described in s4 and optimizes
Information, described optimization information is fed back to normalized constraints and the formalization theorem of s3, to normalized constraints and shape
Formula theorem is optimized, thus continuing the detection of subsequent cycle.
Preferably, software data, hardware data and the environmental data being gathered is the data of different-format, by s1 data
Acquisition step is converted into normalized modeling language form.
Preferably, the environment of software data, hardware data and aircraft to aircraft for the s2 mathematical symbol formalization step
Data carries out symbolization respectively, re-forms unified formalization mathematical symbolism.
Preferably, in s3 formalization mathematical symbol detecting step, based on the common normalized constraints in this area and shape
Formula theorem or user-defined normalized constraints and formalization theorem detect to formalization mathematical symbol, inspection
Survey and whether there is the via Self-reconfiguration sequence of operation, form object information.
Preferably, user-defined normalized constraints and formalization theorem include the theorem of this area and/or break
Speech.
Preferably, s4 self-reconstruction system feedback step carries out via Self-reconfiguration under the traction of adaptive strategy existence resolution principle
Operational sequence solve, the adaptive strategy under the conditions of the comparison of via Self-reconfiguration operating result and service degradation judges.
Preferably, s5 self-reconstruction system optimization step is used for being optimized based on described reconfiguration information, to software optimization
Aspect, be optimized by the direct mechanism for correcting errors that sets, at the aspect to hardware optimization, carried out by hardware redundancy mechanism excellent
Change.
A kind of self-adapting reconstruction system of spacecraft, it is used for executing above-mentioned self-adapting reconstruction method, this system bag
Include: data acquisition module, it is used for gathering software data, hardware data and the environmental data of aerocraft system；Mathematical symbol shape
Formula module, is equivalent to mathematical symbolism module, and the software data collecting, hardware data are converted into mathematical symbol table by it
Show, environmental data is optimized and is converted into formalization mathematical symbolism；Formalization mathematical symbol detection module, is equivalent to model
Detection module, it, according to normalized constraints and formalization theorem, is converted into formalization in mathematics sign format module
The data code requirement constraints of mathematical symbol and formalization theorem are detected, detect whether there is via Self-reconfiguration operation sequence
Row, form object information；Self-reconstruction system feedback module, it carries out deadweight based on described object information and is configured to reconstruct letter
Breath, then by described reconfiguration information feed back to formalization mathematical symbol detection module be used for adjusting described normalized constraints and
Described reconfiguration information is sent to self-reconstruction system optimization module by formalization theorem simultaneously；Self-reconstruction system optimization module, is based on
Described object information and described reconfiguration information form optimization information, and described optimization information is fed back to described standardization about
Normalized constraints and formalization theorem are optimized by bundle condition and formalization theorem, thus continuing the inspection of subsequent cycle
Survey.
Preferably, software data, hardware data and the environmental data being gathered is the data of different-format, is adopted by data
Collection module is converted into normalized modeling language form.
Preferably, mathematical symbol formalization module, is equivalent to mathematical symbolism module, to the software data of aircraft,
The environmental data of hardware data and aircraft carries out symbolization respectively, re-forms unified formalization mathematical symbolism.
Preferably, formalization mathematical symbol detection module, is equivalent to model checking module, based on the specification that this area is common
Change constraints and formalization theorem or user-defined normalized constraints and formalization theorem to formalization mathematics
Symbol is detected, detects whether there is the via Self-reconfiguration sequence of operation, forms object information.
Preferably, user-defined normalized constraints and formalization theorem include the theorem of this area and/or break
Speech.
Preferably, self-reconstruction system feedback module carries out via Self-reconfiguration under the traction of adaptive strategy existence resolution principle
Adaptive strategy under the conditions of operational sequence solution, the comparison of via Self-reconfiguration operating result and service degradation judges.
Preferably, self-reconstruction system optimization module is used for being optimized based on described reconfiguration information, to software optimization
Aspect, is optimized by the direct mechanism for correcting errors that sets, at the aspect to hardware optimization, is carried out by hardware redundancy mechanism excellent
Change.
The present invention goes out formal mathematical model according to the feature extraction of spacecraft, the model describes space flight
Device software-hardware synergism expression behaviour under various circumstances, also describe simultaneously system tackle improper situation self adaptation and
Via Self-reconfiguration binding characteristic.In general, the method for the present invention embodies program, hardware, environment and four aspect phase interactions of specification
With influencing each other, emphasis, in the sequence of operation of software via Self-reconfiguration, extremely truly simulates actual environment process, can accomplish to send out
Existing problem self-adapting reconstruction are it is ensured that the reliability of Hardware/Software Collaborative Design.
Brief description
Fig. 1 is the self-adapting reconstruction method flow chart of the spacecraft of the present invention；
Fig. 2 is the self-adapting reconstruction system construction drawing of the spacecraft of the present invention.
Specific embodiment
Below in conjunction with drawings and Examples, the present invention is made with detailed description:
As shown in figure 1, the self-adapting reconstruction method of spacecraft includes: s1: data collection steps, it is used for gathering winged
The software data of row device system, hardware data and environmental data；S2: mathematical symbol formalization step, it is by the software collecting
Data, hardware data are converted into mathematical symbolism, environmental data is optimized and is converted into formalization mathematical symbolism；S3:
Formalization mathematical symbol detecting step, its according to normalized constraints and formalization theorem, to being converted into formalization number in s2
Learn the data code requirement constraints of symbol and formalization theorem is detected, detect whether there is via Self-reconfiguration operation sequence
Row, form object information；S4: self-reconstruction system feedback step, it carries out deadweight based on the object information described in s3 and is configured to weight
Then described reconfiguration information is fed back to s3 and is used for adjusting described normalized constraints and formalization theorem, simultaneously by structure information
Described reconfiguration information is sent to self-reconstruction system optimization step；S5: self-reconstruction system optimization step, based on the result described in s3
Reconfiguration information described in information and s4 forms optimization information, described optimization information is fed back to normalized constraints and the shape of s3
Normalized constraints and formalization theorem are optimized by formula theorem, thus continuing the detection of subsequent cycle.
As shown in Fig. 2 the self-adapting reconstruction system of spacecraft, it is used for executing above-mentioned self-adapting reconstruction method, should
System includes: data acquisition module, and it is used for gathering software data, hardware data and the environmental data of aerocraft system；Mathematics
Sign format module, is equivalent to mathematical symbolism module, and the software data collecting, hardware data are converted into mathematics by it
Symbol represents, environmental data is optimized and is converted into formalization mathematical symbolism；Formalization mathematical symbol detection module, quite
In model checking module, it, according to normalized constraints and formalization theorem, is converted into in mathematics sign format module
The data code requirement constraints of formalization mathematical symbol and formalization theorem are detected, detect whether there is via Self-reconfiguration
The sequence of operation, forms object information；Self-reconstruction system feedback module, it carries out deadweight based on described object information and is configured to weight
Then described reconfiguration information is fed back to formalization mathematical symbol detection module and is used for adjusting described standardization constraint bar by structure information
Described reconfiguration information is sent to self-reconstruction system optimization module by part and formalization theorem simultaneously；Self-reconstruction system optimization module,
Optimization information is formed based on described object information and described reconfiguration information, described optimization information is fed back to described specification
Changing constraints and formalization theorem, normalized constraints and formalization theorem being optimized, thus continuing subsequent cycle
Detection.
In a preferred embodiment, the method for the present invention also includes:
(1) tool model sets up input information (Hardware/Software Collaborative Design information):
Step one: for different spacecrafts, its software design pattern structure (as uml information) is imported to modeling
In instrument.Step 2: hardware designs logical message corresponding with software is imported in instrument, packet contains sensor, number
According to bus, the relevant information such as address bus.
Aforesaid way can ensure that neatly makes the spacecraft of various models carry out adapting to this instrument.
(2) tight mathematical symbolism:
Step one: software features to software description (as uml figure) carry out formalized description, that is, software with strict number
Learn symbol to represent.Step 2: same to the logical message of hardware description carries out formalization mathematical symbolism, by above-mentioned biography
The hardware elements such as sensor switch to mathematical symbol.
Tight mathematical symbolism is so that different Hardware/Software Collaborative Designs can be converted into unified mathematics symbol
Number language, such that it is able to realize the unified interface description modeling.
(3) environment scene:
The self adaptation of spacecraft refers to that aircraft can spontaneously adapt to what environment brought in different environments in fact
Unfavorable factor, does not therefore have concrete scene in the tool, and the scene simulated in instrument is to be produced according to software change
Change sequence is representing.In model inspection, the environment scene of simulation is exactly the path sequence that software itself can meet solution in fact
The checking of row.
(4) standardization constraint:
This is to determine the setting of the standardization constraint requirements to model for the instrument itself, and the core of model inspection is just being around this
Carve the normalized constraints that provide to run.Common normalized constraints are carried, user can also make by oneself in instrument
The related constraints of justice, such as theorem, assert with static analysis condition etc..
(5) model inspection:
On the basis of above-mentioned software and hardware mathematical symbolization, in conjunction with the scene mode setting and normalized constraints.Work
Tool carries out Formal Modeling to above-mentioned data.The input of modeling is mathematical symbol, and contextual data is for software and hardware data transition
The automat change sequence of condition and relation.Final expected result is to try to achieve that poor environment is reached can adaptive original program
Via Self-reconfiguration behavior base collection.Model inspection is finally to see to whether there is a kind of via Self-reconfiguration sequence of operation, enables software system
The change of adaptive targets environment；If there is this sequence, study the excellent decision method of program after Perform sequence.
(6) self adaptation and reconstruct:
To judge whether to need via Self-reconfiguration software configuration for above-mentioned formation sequence result.Lay equal stress on if necessary to self adaptation
Structure, then carry out feeding back to module of software and hardware part.
(7) feedback optimized mechanism:
Feedback is on the basis of model inspection, carries out the optimization and upgrading to program and hardware.Software usually can be straight
Connect setting mechanism for correcting errors, hardware then need software collaborative under be optimized, such as hardware redundancy mechanism.
(8) modeling test again:
After said process completes, carry out the software and hardware modeling detection of a new round.So spiral repeatedly, until true
Protect all latent faults and all optimize and finish, that is, model can meet all of normalized constraints.
The method of the present invention is technically related to several main aspects as follows:
1) formalization mathematical symbolism:
The expression behaviour and environmental element with the different spaces aircraft of different feature mainly are switched to unite by this module
One mathematical symbol language, thus provide normalized language basis for subsequent model inspection.This stage is required to carve
Draw the ability to express of different classes of behavior characteristicss because spacecraft software generally include periodicity, event triggering, the time,
The extremely complex feature such as event.Need that there is the appropriate degree of coupling, that is, possess composability and detachable property it is ensured that can
Safety during reconstruct and high efficiency.Need that there is the ability to express portraying multidimensional physical message, can adapt to different complexity
Environment, such as temperature, appropriateness, speed difference changing environment etc..Additionally, as mathematical symbol language in addition it is also necessary to note program and rule
The uniformity of model, that is, while the modeling language designing can portray program behavior, can describe the need followed required for program
Seek specification, such that it is able to realize using modes such as programmings, facilitate developer to be optimized.
2) model inspection:
Model inspection is on the mathematical symbol information aggregate defining, and studies the need whether current software and hardware meets setting
Seek specification, and calculate uncertainty and the place of non-reliability, thus feeding back to reconstructed module.In this stage, need
The actual physical situation that can run in conjunction with software and hardware, the spacecraft in model is required to the continuous change of adaptive environment
Change, and respond in time, real-time detection and checking are carried out to itself.Meanwhile, the technical tool of the present invention also supports foundation
The specification that environment changes and causes degrades, and proves whether the software system after reconstruct meets degradation specification.Among these
Including: the requirement profile order relation of Formal Modeling language describing system, that is, utilize the formalization mould such as temporal logic, Hoare logic
On the basis of type, Definition Model is refined relation, such that it is able to the bar realizing meeting needed for software and hardware using this requirement profile order relation
The prioritization of part；The research of Model Validation Technology: utilize UML, portray the intercommunication of model from different perspectives
Property, combination model purification techniques can verify that whether procedural model meets normative model；Automatic verification method is researched and developed, that is, in high-order
On the basis of Program Semantics, refined principle implementation model automatic Verification using semantic equivalence, semanteme.The result of this module will
As next phase analyses and the foundation optimizing.
3) restructuring analysis strategy:
The major function of restructuring analysis is that the result to model checking module carries out errors repair, and error checking etc. optimizes.
It is the key realizing high believable vehicle technology based on the adaptive strategy of via Self-reconfiguration.In the present invention, this module mainly uses
Carry out operational sequence solution, the ratio of via Self-reconfiguration operating result of via Self-reconfiguration under the traction of adaptive strategy existence resolution principle
Adaptive strategy relatively and under the conditions of service degradation judges.Adaptive strategy existence resolution principle is to find out to there is a kind of plan
Given software and hardware slightly can be made to be based on source program in the case of specified criteria and to implement via Self-reconfiguration operational set so that in new environment
Functional requirement and the codes and standards of original software are met under scene.
4) system model optimization:
Model checking method carries out software and hardware self-adaptive and deadweight except making spacecraft from formal angle
Outside structure, parameters optimization can also be provided for developer.In this module, model checking tools can provide soft reconstructed operation sequence
Optimum solution, based on such sequence, study its implementation procedure, to developer judge and improve system stability have greatly
Positive effect such that it is able to from system construction phase just pass through optimize, accomplish safety and stability.
The above, the only present invention preferably specific embodiment, but protection scope of the present invention is not limited thereto,
Any those familiar with the art the invention discloses technical scope in, the change or replacement that can readily occur in,
All should be included within the scope of the present invention.Therefore, protection scope of the present invention should described with the protection model of claim
Enclose and be defined.
Claims (8)
1. a kind of self-adapting reconstruction method of spacecraft, comprises the steps:
S1: data collection steps, it is used for gathering software data, hardware data and the environmental data of aerocraft system；
S2: mathematical symbol formalization step, the software data collecting, hardware data are converted into mathematical symbolism by it, will
Environmental data optimizes and is converted into formalization mathematical symbolism；
S3: formalization mathematical symbol detecting step, it, according to normalized constraints and formalization theorem, is converted into shape in s2
The data of formula mathematical symbol, using being detected, detects whether there is the via Self-reconfiguration sequence of operation, forms object information；
S4: self-reconstruction system feedback step, it carries out deadweight based on the object information described in s3 and is configured to reconfiguration information, then will
Described reconfiguration information feeds back to s3 and is used for adjusting described normalized constraints and formalization theorem, simultaneously by described reconfiguration information
It is sent to self-reconstruction system optimization step；
S5: self-reconstruction system optimization step, forms optimization information based on the object information described in s3 and the reconfiguration information described in s4,
Described optimization information is fed back to normalized constraints and the formalization theorem of s3, fixed to normalized constraints and formalization
Reason is optimized, thus continuing the detection of subsequent cycle.
2. the self-adapting reconstruction method of spacecraft as claimed in claim 1 is it is characterised in that the software number that gathered
It is the data of different-format according to, hardware data and environmental data, be converted into normalized modeling language by s1 data collection steps
Speech form.
3. the self-adapting reconstruction method of spacecraft as claimed in claim 1 is it is characterised in that s2 mathematical symbol formalization
The environmental data of software data, hardware data and aircraft to aircraft for the step carries out symbolization respectively, re-forms unified
Formalization mathematical symbolism.
4. the self-adapting reconstruction method of spacecraft as claimed in claim 1 is it is characterised in that s3 formalization mathematical symbol
In detecting step, based on the common normalized constraints in this area and formalization theorem or user-defined standardization about
Bundle condition and formalization theorem detect to formalization mathematical symbol, detect whether there is the via Self-reconfiguration sequence of operation, form knot
Fruit information.
5. the self-adapting reconstruction method of spacecraft as claimed in claim 4 is it is characterised in that user-defined specification
Change constraints and formalization theorem includes the theorem of this area and/or asserts.
6. the self-adapting reconstruction method of spacecraft as claimed in claim 1 is it is characterised in that s4 self-reconstruction system feeds back
The operational sequence that step carries out via Self-reconfiguration under the traction of adaptive strategy existence resolution principle solves, via Self-reconfiguration operating result
Comparison and service degradation under the conditions of adaptive strategy judge.
7. the self-adapting reconstruction method of spacecraft as claimed in claim 1 is it is characterised in that s5 self-reconstruction system optimizes
Step is used for being optimized based on described reconfiguration information, at the aspect to software optimization, is carried out by the direct mechanism for correcting errors that sets
Optimize, at the aspect to hardware optimization, be optimized by hardware redundancy mechanism.
8. the self-adapting reconstruction system of a kind of spacecraft, it is used for adaptive any one of perform claim requirement 1-7
Answer reconstructing method, this system includes:
Data acquisition module, it is used for gathering software data, hardware data and the environmental data of aerocraft system；
Mathematical symbol formalization module, is equivalent to mathematical symbolism module, and the software data collecting, hardware data are turned by it
Change mathematical symbolism into, environmental data is optimized and is converted into formalization mathematical symbolism；
Formalization mathematical symbol detection module, is equivalent to model checking module, and it is fixed according to normalized constraints and formalization
Reason, detects to the data code requirement constraints and formalization theorem being converted into formalization mathematical symbol in s2, inspection
Survey and whether there is the via Self-reconfiguration sequence of operation, form object information；
Self-reconstruction system feedback module, it carries out deadweight based on described object information and is configured to reconfiguration information, then will be described
Reconfiguration information feeds back to formalization mathematical symbol detection module and is used for adjusting described normalized constraints and formalization theorem, with
When described reconfiguration information is sent to self-reconstruction system optimization module.
Self-reconstruction system optimization module, forms optimization information based on described object information and described reconfiguration information, will be described
Optimization information feeds back to described normalized constraints and formalization theorem, and normalized constraints and formalization theorem are entered
Row optimizes, thus continuing the detection of subsequent cycle.
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