CN106444514B - A kind of highly reliable double redundancy power controller of logic-based frame interaction - Google Patents
A kind of highly reliable double redundancy power controller of logic-based frame interaction Download PDFInfo
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- CN106444514B CN106444514B CN201610922109.XA CN201610922109A CN106444514B CN 106444514 B CN106444514 B CN 106444514B CN 201610922109 A CN201610922109 A CN 201610922109A CN 106444514 B CN106444514 B CN 106444514B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0421—Multiprocessor system
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24182—Redundancy
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Abstract
The invention discloses a kind of highly reliable double redundancy power controllers of logic-based frame interaction.The system includes CPU module valve driving circuit functional module, CPU module includes the dual processors of hot backup each other, by internal bus interaction between dual processors, valve driving circuit functional module is realized using the opposite interlocking instruction of logic with the series-parallel driving structure design method of MOSFET.Backup is intersected using two-shipper for solenoid valve while being exported, high reliablity；The single machine way of output is used for latching valve, realizes the balance of controller hardware resource and requirement of real-time.The power controller realizes the highly reliable control of dynamical system thruster, effectively meets system weight, volume power consumption and real-time constraint.
Description
Technical field
The present invention relates to a kind of highly reliable double redundancy power controllers of logic-based frame interaction, belong to spacecraft dynamical system
System field of electrical control.
Background technique
For power controller as spacecraft dynamical system key control unit, major function is instructed in fact according to control system
Now to engine electrically/all kinds of solenoid valves of hydraulic control conversion element and the drive control of latching valve, for spacecraft become rail, from
It is rail, intersection, in-orbit and reenter attitude stabilization pitching, yaw are provided and roll control force and control moment, it is to determine aerial mission
One of crucial single machine of success or failure.
High reliability request, which determines, must take Redundancy Design inside the quasi-controller, and missile armament can for height at present
Integrated controller by dynamic Control uses triplication redundancy technology, decides by vote mechanism output control pulse, this side by two from three
Method has very high reliability, but to ensure data synchronism output, needs to design complicated synchronous device and strategy；Secondly, hard
Part voting machine designs for single-point, and when hardware voter breaks down, controller will be unable to operate normally；Triplication redundancy system simultaneously
System carries out data processing using the equipment of three sets of isomorphisms, and weight, volume and the power consumption of controller will be significantly increased.
Therefore, spacecraft space, weight and highly reliable constraint condition are faced, in existing power controller design scheme
In, simply use triplication redundancy mentality of designing, can not achieve limited hardware resource constraint under dynamical system thrust solenoid valve,
The highly reliable of latching valve, hard real time, lighting control.
Summary of the invention
Technology of the invention solves the problems, such as: about for the lighting of spacecraft dynamical system, the design of highly reliable and hard real time
Beam is designed a kind of highly reliable double redundancy power controller of logic-based frame interaction, is enabled and series-parallel driving circuit using two fingers
Structure type devises the valve grading control plan under resource constraint in conjunction with solenoid valve, latching valve load response time response
Slightly, the highly reliable control for realizing dynamical system thruster effectively meets system weight, volume power consumption and real-time constraint.
The technical solution of the invention is as follows: a kind of highly reliable double redundancy power controller of logic-based frame interaction, should
Controller includes for power conversion module, power switching module and drive circuit module, wherein
Externally input power supply signal is converted to secondary power supply by power conversion module, to weigh switching module, CPU mould
Block, drive circuit module power supply；
Switching module is weighed, power instruction or autonomous discriminant approach are cut according to externally input remote control, determined in CPU module
Dual processors when airliner or it is non-work as airliner control, export it is on duty control signal into CPU module work as airliner and Fei Dang airliner；
CPU module is made of dual processors, passes through internal bus interaction, under the control of control signal on duty, one between dual processors
A is to work as airliner, another works as airliner to be non-；When airliner and non-airliner of working as receive externally input dynamical system valve control
Instruction controls solenoid valve valve, when airliner and Fei Dang airliner receive newest solenoid valve valve control data frame, generates
Internal solenoid valve valve control data frame, is sent to other side by internal bus, when airliner and it is non-when airliner according to arrive first outside
Portion's solenoid valve valve control data frame or internal solenoid valve valve control data frame, output solenoid valve valve control instruction to drive
Dynamic circuit module；Latching valve valve is controlled, number is controlled according to latching valve valve by the airliner of working as with latching valve control
According to the pressure value of frame and latching valve institute's keyholed back plate road, latching valve valve control instruction is exported to drive circuit module, later, readback
Self-locking valve-driving circuit state when noting abnormalities, is notified non-when airliner output phase answers the control of latching valve valve to refer to by internal bus
It enables to drive circuit module；
Drive circuit module receives solenoid valve control signal instruction and latching valve control signal instruction that CPU module is sent,
Output solenoid valve control wave and latching valve control wave are to outside respectively, and realization is to dynamical system solenoid valve and certainly
The switch control of locking-valve.
The power switching module determines switching two-ways cpu power using autonomous discriminant approach method particularly includes: detection is outer
For remote control standard/taboo of portion's input from master instruction and CPU module work state information, the CPU module work state information includes working as
Whether airliner normal, non-when whether airliner self-test normal, whether dual-machine communication normal, when remote control standard/taboo from subject to master instruction from
When master instruction, power switching module is detected when airliner breaks down and non-when airliner self-test is normal, dual-machine communication is normal, switching
When the state of airliner and Fei Dang airliner control signal on duty, and then switch two-ways cpu power.
It is described to work as airliner and Fei Dang airliner periodicity self-test；And mutually detect other side " house dog " signal, when airliner also
" heartbeat signal " of sending cycle works as airliner to non-, and non-airliner real-time detection of working as is worked as the state of airliner " house dog " signal and worked as
The pulse signal of airliner sending cycle, will test result and self-detection result, and composition CPU module work state information is sent to power
Switching module.
With latching valve control when airliner fed back according to latching valve valve control data frame and dynamical system it is self-locking
The pressure value of valve institute's keyholed back plate road, output latching valve valve control instruction to drive circuit module, specific implementation are as follows:
With latching valve control after airliner parses to obtain latching valve control data frame, judge that latching valve controls class
Not Wei bus assignment instructions or autonomous control instruction, if it is bus assignment instructions, then directly export corresponding latching valve control
System instruction；It is instructed if it is autonomous control, then by the pressure value and control of externally input dynamical system latching valve institute's keyholed back plate road
Threshold value processed is compared, if pressure value is more than or equal to given threshold, latching valve out code is exported, if pressure value is less than
Given threshold then exports latching valve open instructions.
It is described when airliner or non-when the communication of airliner internal bus and external bus communication are all made of the mode of interruption and handle, outside
Include logic frame count in the solenoid valve valve control data frame of portion's input, the logic frame count cycle accumulor, when airliner or
Person is non-, and electromechanical magnet valve valve on duty controls process flow are as follows:
(a), judge whether solenoid valve valve control data frame comes from external bus interruption, if in external bus
It is disconnected, then data check is carried out to solenoid valve valve control data frame, check errors then return to major cycle；Verification is correct, then enters
Step (b)；If interrupted from internal bus, enter step (c)；
(b), the judgement of logic frame count is carried out, if the frame count of logic frame count and internal storage region in current data
It is identical, then it is assumed that the instruction had executed, then exited interrupt processing；If it is different, then the agreement framing according to agreement generates
It is sent to other side by internal bus by internal solenoid valve valve control data immediately, and the internal solenoid valve valve controls number
Comprising the logic frame count in the external data that receives in, meanwhile, output valve control instruction to drive circuit module, and adopt
The frame count of current memory area is recorded and updated with the logic frame count in the external data received, exits interrupt processing；
(c), data check is carried out to instruction, check errors exit interrupt processing, and verification is correct, then enters step (d)；
(d), the judgement of logic frame count is carried out, if the frame count in data is identical as the frame count of memory block, then it is assumed that
The instruction had executed, then returned to major cycle；If it is different, then output valve control instruction is to drive circuit module, and adopt
The frame count of current memory area is recorded and updated with the logic frame count in the internal data received, exits interruption.
The valve driving circuit functional module includes N number of completely identical in structure valve driving circuit, is respectively used to control
N number of solenoid valve/latching valve is made, is gated by different chip selection signals, N is according to the solenoid valve in dynamical system/latching valve number
It determines, N is positive integer, N >=1.
The valve driving circuit includes switch mosfet circuit, main driving circuit and standby driving circuit, main driving circuit
Module is identical with standby driving circuit, wherein
Switch mosfet circuit, including the first metal-oxide-semiconductor K11, the second metal-oxide-semiconductor K12, the 3rd MOS pipe K21 and the 4th metal-oxide-semiconductor
K22 is formed by connecting in series and parallel, and K11 connects with K12, and K21 connects with K22, and two series circuits are connected in parallel output to dynamical system again
System is for controlling solenoid valve/latching valve；
Main driving circuit and standby driving circuit receive solenoid valve/latching valve control when airliner and Fei Dang airliner export respectively
System instruction, when solenoid valve/latching valve control instruction that airliner and Fei Dang airliner export includes the first control instruction and the second control
System instruction；When the first control instruction of airliner exports after instruction latch, booster circuit, for controlling opening for the first metal-oxide-semiconductor K11
It closes, the second control instruction exports after logical inversion, then through instruction latch, booster circuit, for controlling the second metal-oxide-semiconductor K12's
Switch；It is non-to latch when the first control instruction of airliner is instructed, exported after booster circuit, for controlling opening for third metal-oxide-semiconductor K21
It closes, the second control instruction exports after logical inversion, then through instruction latch, booster circuit, for controlling the 4th MOS pipe K22's
Switch.
Airliner and the Fei Dang airliner internal bus of working as is realized using the McBSP communication interface of CPU.
The advantages of the present invention over the prior art are that:
1), the present invention realizes single machine internal bus communications using McBSP, realizes engine by logical frame instruction between two-shipper
Control information exchange, solve the problems, such as because external command it is asynchronous caused by valve pulse broaden, realize engine valve control
The plesiochronous output of instruction (error is in tens microseconds)；
2), the present invention using the opposite interlocking instruction of logic with the valve driving circuit structure that designs in series and parallel, it can be achieved that
Effective open and close of two degree of failure lower valves improve valve and control reliability；
3), the present invention devises the valve grading control strategy under resource constraint, and solenoid valve is handed over using two-shipper
Fork is backed up while being exported, high reliablity；For latching valve use the single machine way of output, realize controller hardware resource and in real time
Property require balance.
Detailed description of the invention
Fig. 1 is that the present invention is based on the highly reliable double redundancy power controller frameworks of logical frame interaction；
Fig. 2 is extended function module of the embodiment of the present invention (valve driving circuit) schematic diagram；
Fig. 3 is the parallel internal bus interface diagram of the embodiment of the present invention；
Fig. 4 is solenoid valve control of embodiment of the present invention flow diagram；
Fig. 5 is latching valve of embodiment of the present invention control flow schematic diagram.
Specific embodiment
The present invention will be described in detail with reference to the accompanying drawings and detailed description.
Spacecraft dynamical system thrust is controlled, reliability, service life, weight, power consumption, volume, service life etc. directly determine
Which kind of architectural form controller should use, and in practical applications, which kind of redundancy structure to be one using and combine service life, again
One result mutually balanced of the difference factor such as amount, power consumption, real-time.Such as: reliability, safety, real-time are wanted
High application is asked, generally decides by vote framework using three machines；The application harsh for service life, power constraints, it is general to use
Two-shipper cold standby framework；For having certain constraint to service life, power consumption, while the application for having requirement of real-time is also needed, can adopted
With two-node cluster hot backup framework.
For application backgrounds such as spacecraft weight, power consumption and real-time about beam intensities, the present invention devises a kind of logic-based
The power controller two-node cluster hot backup redundancy structure of frame interaction.As shown in Figure 1, the highly reliable double redundancy power of logic-based frame interaction
Controller includes power conversion module, power switching module, four part of CPU module and drive circuit module.Below to each section into
Row is discussed in detail.
(1) power conversion module
Power conversion module, by power protection, surge restraint circuit, power-supply filter, DC/DC module and low voltage difference pressure stabilizing
Device is constituted, and major function is to carry out voltage conversion process to the 28V electricity of external system input, is converted to needed for power controller work
Secondary power supply, for power switching module, CPU module, drive circuit module power supply.
(2) switching module is weighed
Switching module is weighed, is mainly used for realizing to power controller two-shipper group redundancy switching control, according to externally input
Power instruction or autonomous discriminant approach are cut in remote control, determine dual processors in CPU module when airliner or non-when airliner control, output
Control signal on duty is to working as airliner and Fei Dang airliner.System default is autonomous discriminant approach, but power instruction priority height is cut in remote control,
Once receiving externally input remote control cuts power instruction, according to cut power instruction switching dual processors when airliner or non-when airliner control.
The switching of the autonomous differentiation control mainly carries out comprehensive judgement according to the two-shipper work state information of CPU module output.
Method particularly includes: power switching module detects externally input remote control standard/taboo from master instruction and CPU module work state information, institute
It states CPU module work state information and works as airliner from non-, when airliner and Fei Dang airliner periodicity self-test, and detect other side's mutually
" house dog " signal, when airliner works as airliner sending cycle " heartbeat signal " and self-detection result to non-, non-airliner real-time detection of working as is worked as
Whether the state of airliner " house dog " signal and pulse signal when airliner sending cycle, judgement are normal, non-on duty when airliner
Whether machine self-test is normal, whether dual-machine communication is normal, will test result and self-detection result, forms CPU module work state information
It is sent to power switching module.When be remotely controlled standard/taboo from subject to master instruction from master instruction when, power switching module detect when airliner occur
Failure and non-when airliner self-test is normal, dual-machine communication is normal, switching when airliner and Fei Dang airliner control signal on duty state,
And then switch two-ways cpu power., can be by telecommand or autonomous differentiation switching when A machine breaks down by taking A machine as an example, it will
Control is transferred to the control of B machine, the autonomous switching working mode of power controller dual hot redundancy by A machine are as follows: B machine is logical by two-shipper
Mouth, the self-detection result of available A machine are interrogated, to know whether A machine breaks down, while B machine receives the A movement that A machine is sent
Signal is jumped, if after discovery A machine breaks down, and B machine self-test is normal, switching B machine is to work as airliner, and A machine works as airliner to be non-, is
System structural rearrangement.
(3) CPU module
CPU module is the core of highly reliable double redundancy power controller, it is main complete to communicate with external system, total line traffic control
The functions such as system, instruction parsing, instruction output, state acquisition, parameter computing function and data storage.
CPU module is made of dual processors, passes through internal bus interaction, under the control of control signal on duty, one between dual processors
A is to work as airliner, another works as airliner to be non-；When airliner and non-airliner of working as receive externally input dynamical system valve control
Instruction controls solenoid valve valve, when airliner and Fei Dang airliner receive newest solenoid valve valve control data frame, generates
Internal solenoid valve valve control data frame, is sent to other side by internal bus, when airliner and it is non-when airliner according to arrive first outside
Portion's solenoid valve valve control data frame or internal solenoid valve valve control data frame, output solenoid valve valve control instruction to drive
Dynamic circuit module；Latching valve valve is controlled, number is controlled according to latching valve valve by the airliner of working as with latching valve control
According to the pressure value of frame and latching valve institute's keyholed back plate road, latching valve valve control instruction is exported to drive circuit module, later, readback
Self-locking valve-driving circuit state when noting abnormalities, is notified non-when airliner output phase answers the control of latching valve valve to refer to by internal bus
It enables to drive circuit module.
(4) drive circuit module
Drive circuit module receives solenoid valve control instruction and latching valve control signal instruction that CPU module is sent, respectively
Output solenoid valve control wave and latching valve control wave realize the switch to dynamical system solenoid valve and latching valve
Control.
Valve driving circuit functional module includes N number of completely identical in structure valve driving circuit, is respectively used to control N number of
Solenoid valve/latching valve is gated by different chip selection signals.N is determined according to the solenoid valve in dynamical system/latching valve number.
Corresponding solenoid valve/the latching valve of one valve driving circuit functional module.
Dynamical system solenoid valve function directly affects the working condition of engine, when engine is in short pulse operating mode
Under, the time that solenoid valve keeps it turning on and closes is especially short, to guarantee that the switching on A, B electromechanics road will not influence the work of engine
State need to realize the control to solenoid valve in such a way that standby machine controls simultaneously.In order to guarantee the reliable of driving switch circuit
Property, valve driving circuit functional module the interlocking instruction and MOSFET series-parallel driving structure design method opposite using logic.
As shown in Fig. 2, the valve driving circuit includes switch mosfet circuit, main driving circuit and standby driving electricity
Road, main driving circuit are identical with standby driving circuit, wherein
Switch mosfet circuit, including the first metal-oxide-semiconductor K11, the second metal-oxide-semiconductor K12, the 3rd MOS pipe K21 and the 4th metal-oxide-semiconductor
K22 is formed by connecting in series and parallel, and K11 connects with K12, and K21 connects with K22, and two series circuits are connected in parallel output to dynamical system again
System is for controlling solenoid valve/latching valve.
Main driving circuit and standby driving circuit receive solenoid valve/latching valve control when airliner and Fei Dang airliner export respectively
System instruction, when solenoid valve/latching valve control instruction that airliner and Fei Dang airliner export includes the first control instruction and the second control
System instruction；When the first control instruction of airliner exports after instruction latch, booster circuit, for controlling opening for the first metal-oxide-semiconductor K11
It closes, the second control instruction exports after logical inversion, then through instruction latch, booster circuit, for controlling the second metal-oxide-semiconductor K12's
Switch；It is non-to latch when the first control instruction of airliner is instructed, exported after booster circuit, for controlling opening for third metal-oxide-semiconductor K21
It closes, the second control instruction exports after logical inversion, then through instruction latch, booster circuit, for controlling the 4th MOS pipe K22's
Switch.Solenoid valve and latching valve are using negative control design, to guarantee to control reliability, to the finger of input driving switch mosfet circuit
Order has carried out Redundancy Design, is for airliner by A machine, the control instruction 1 of A machine CPU output is through instruction latch, booster circuit
After export to MOSFET (K11), control instruction 2 after logical inversion, then latch through instruction, booster circuit exports to MOSFET
(K12), B machine designs similarly, then A machine, B machine while output order Parallel Control solenoid valve.Metal-oxide-semiconductor Redundant Control effective instruction
For the first control instruction be level"1" and the second control instruction is that level "0" is effective, and wherein level "0" is through logical inversion circuit
It exports after processing to command latch circuit.
In such a way that metal-oxide-semiconductor is in parallel, it is therefore prevented that metal-oxide-semiconductor open circuit failure, can effectively solve that valve fail to open asks
Topic；Two concatenated modes of metal-oxide-semiconductor are used to single part of driving circuit, it is therefore prevented that metal-oxide-semiconductor short-circuit failure；Using opposite mutual of logic
Lock instruction control mode, avoids and exports from cpu data I/O pin, arrive during driving circuit K11, K12, K21, K22 link
Normal high level occur leads to double MOS pipe conductings, to influence the problem of valve is unable to normal switching-off.
As shown in figure 3, second level distributed structure/architecture of the power controller using " system control module+extended function module ",
Wherein system control module is CPU module in Fig. 1, and extended function module is drive circuit module in Fig. 1.By interior total
Line signal drive circuit, address decoding circuitry, read-write control signal, reset signal and necessary power supply signal composition are simple, clever
Internal bus interface living, extended function module are realized according to common data bus signal and are visited with the complete data of system control module
Ask interaction.The advantage is that: 1) high reliablity, can directly control and access external function module fully according to conventional computer
Mode work；2) reusable rate is strong, and the distribution of address space is directly against extended function module, for each extension function
The fixed access address of module design, will not lead to the variation of access mode with the difference of functional module；3) scalability
By force, the control that multiple functional modules may be implemented by controlling internal bus for system control module accesses；4) space is saved, it is interior total
The bus signals quantity of line design is few, the complexity of internal electric connector row point is reduced, convenient for the interior type selecting for drawing electric connector.
In general, dynamical system solenoid valve control requirement of real-time is higher, and delay of control generally requires control in millisecond
Magnitude, and latching valve requirement of real-time is not high, therefore is directed to both different control load characteristics, the present invention devises one kind
Valve grading control strategy under resource constraint.
Solenoid valve is controlled by the way of intersecting backup, i.e., when airliner A, non-airliner B machine of working as are simultaneously to control instruction
It is parsed, and sends control instruction respectively, in order to guarantee the reliability and accuracy of control instruction sending, to solenoid valve control
Instruction execution strategy has carried out following design:
(1), the instruction driving circuit of A machine and B machine is in parallel, and as shown in Fig. 2, A machine and B machine export control instruction simultaneously,
Ensure when A machine or B machine break down, the instruction that control solenoid valve is opened can be exported effectively；
(2), A machine and B machine pass through the externally input solenoid valve valve control data of 1553B external bus interface reception respectively
Frame, the valve control pulse broadening caused by controlling the asynchronous problem of data frame in order to avoid the two-way inputted by control system,
McBSP bus in controller using CPU devises communication internal bus between A machine and B machine, in each communication cycle,
Relevant control director data is passed to another machine by internal bus by internal bus by the machine for first receiving external control data frame,
The instruction of the external bus in the period is no longer executed by the single machine that internal bus receives data；The command content that internal bus is sent
Consistent with external bus, code name and working time including engine electromagnetic valve, communication frame format include two byte frame heads, a word
Save frame count, a byte solenoid valve code name and a byte electromagnetic valve work time；
(3) using receiving by the way of interrupting, setting use in software is arrived first for internal bus communication and external bus communication
Director data in disconnected, for rear to interrupting, if the frame count for including in director data is identical as the frame count of software records
Then not execute；
(4) software is recorded and is judged to the frame count in director data, within each control period, instruction execution
It is preceding all to compare frame count and software records frame count in director data, all instruction frame count is carried out more after the completion of instruction execution
Newly, the case where preventing missing command；
Solenoid valve control process is as shown in Fig. 4, and A machine, B machine software control process are completely the same, by taking A machine as an example, normally
In the case of software program work in major cycle, A machine, B machine initially set 1553B external bus interrupt priority level greater than in internal bus
It is disconnected, therefore when 1553B external bus is interrupted and reached simultaneously with internal bus interruption, the preferential 1553B external bus that executes interrupts.It is external defeated
It include logic frame count, the logic frame count cycle accumulor, solenoid valve valve control in the solenoid valve valve control data frame entered
Process flow processed are as follows:
(a), judge whether solenoid valve valve control data frame comes from the interruption of 1553B external bus, if outside 1553B
Portion's bus is interrupted, then carries out data check to solenoid valve valve control data frame, and check errors then return to major cycle；Verification is just
Really, then (b) is entered step；If interrupted from internal bus, enter step (c)；
(b), the judgement of logic frame count is carried out, if logic frame count and the frame count phase of internal storage region in data
Together, then it is assumed that the instruction had executed, then returned to major cycle；If it is different, then being generated according to the agreement framing of agreement internal
It is sent to other side by internal bus by solenoid valve valve control data immediately, in the internal solenoid valve valve control data
Comprising the logic frame count in the external data that receives, meanwhile, output valve control instruction to drive circuit module, and using receiving
To external data in logic frame count record and update the frame count of current memory area, exit interruption；
(c), data check is carried out to instruction, check errors return to major cycle, and verification is correct, then enters step (d)；
(d), the judgement of logic frame count is carried out, if the frame count in data is identical as the frame count of memory block, then it is assumed that
The instruction had executed, then returned to major cycle；If it is different, then output valve control instruction is to drive circuit module, and adopt
The frame count of current memory area is recorded and updated with the logic frame count in the internal data received, returns to major cycle.
Under the premise of not increasing standalone hardware resource, using total in the McBSP resource construction two machine communication of CPU itself
Line, by between two-shipper logical frame instruction realize engine control information exchange, solve because external command it is asynchronous caused by valve
Gate pulse broadens problem, realizes the plesiochronous output of engine valve control instruction.For solenoid valve control, external control system
Input instruction 1 or external control system input instruction 2 (instruction is identical but is likely to be out of synchronization), defeated outside A/B machine individual reception
After entering instruction, the interaction of command information is realized by internal bus, and independently output control solenoid valve.Since internal bus transmits data
Less, transmission rate is high, therefore internal bus transmission time-consuming is only in tens microseconds.Even if external control system instruction input 1,2 is different
Step, the reliable plesiochronous output of solenoid valve is able to achieve by the framework.
In order to realize reliable real-time switching when solenoid valve control failure, power controller devises hardware " house dog " prison
Slowdown monitoring circuit, when CPU is in " run dead " or " run and fly " the case where can not normal control solenoid valve when, can be answered by what " house dog " exported
Position signal closes CPU and all solenoid valves；
Further, in order to increase data transmission reliability, it is ensured that solenoid valve control instruction can correctly execute, will be outer
The solenoid valve control data in dynamical system valve control instruction that system is inputted by 1553B bus, and pass through after parsing
The internal bus solenoid valve control data that internal bus is sent are designed according to triplication redundancy, and program carries out comparing when fetching, and are selected
With at least two parts of identical data.
For the not high latching valve of requirement of real-time, to mitigate software design burden, using single machine control model, but hardware
On driving circuit by the way of the backup of active and standby intersection.When normal work, default A machine sends the control that latching valve opens or closes
Instruction, but A machine and B machine are simultaneously monitored the switch state of driving circuit, by carrying out resistance point to metal-oxide-semiconductor control instruction
Pressure acquisition realizes that theoretically normal value is 4V, exceptional value 0V, and once when finding switch state exception, A machine passes through internal bus
It notifies B machine, starts backup driving circuit, latching valve control instruction implementation strategy has carried out following design:
Using single machine control model, machine on duty is defaulted with latching valve control.If A machine is to work as airliner, B machine is non-
Work as airliner, then A machine is machine of having the right, and B machine is to have no right machine, and machine instruction progress machine-cut on duty can be cut by external remote control and is changed.
A machine and B machine carry out instruction parsing simultaneously and execute control strategy, but final control instruction is only individually issued by A machine；
Self-locking valve-driving circuit state is monitored after A machine output control instruction, when exception occurs in discovery driving circuit
When, it notifies B machine to need the latching valve address controlled by the internal bus between A machine and B machine and the movement completed is needed (to open finger
Order or Guan Zhiling), it is controlled by B machine catcher；
B machine is monitored the operating status of A machine, and when A machine resets, B machine is independently seized power, and takes over latching valve immediately
Control.
Latching valve control flow is as shown in Fig. 5, and default carries out latching valve control when airliner, to be that A machine is when airliner
Example, software program work is in major cycle under normal circumstances.When 1553B external bus, which interrupts, to arrive, data check is carried out first,
Instruction parsing is carried out after data are correct, then carries out permission judgement, if the machine is to work as airliner, working as with latching valve control
Airliner parses after obtaining latching valve control data frame, judges latching valve control category for bus assignment instructions or autonomous control
Instruction, if it is bus assignment instructions, then directly exports corresponding latching valve control instruction；It is instructed if it is autonomous control, then
The pressure value of externally input dynamical system latching valve institute's keyholed back plate road is compared with threshold value, if pressure value is more than or equal to
Threshold value then exports latching valve out code, if pressure value is less than threshold value, exports latching valve open instructions, later, monitoring refers to
Execution state is enabled, the control instruction framing of execution is generated into internal bus latching valve control instruction if abnormal, is sent to non-on duty
Machine；If the machine works as airliner to be non-, internal bus is waited to interrupt, the control of internal bus latching valve is obtained from the data received and is referred to
It enables, and carries out the verification of internal bus latching valve control instruction correctness, instruction parsing control latching valve is completed after correct, and to instruction
Executive condition is detected.
Claims (8)
1. a kind of highly reliable double redundancy power controller of logic-based frame interaction, it is characterised in that including for power conversion mould
Block, power switching module and drive circuit module, wherein
Externally input power supply signal is converted to secondary power supply by power conversion module, to weigh switching module, CPU module, driving
Circuit module power supply；
Switching module is weighed, power instruction or autonomous discriminant approach are cut according to externally input remote control, determine dual processors in CPU module
When airliner or it is non-work as airliner control, export it is on duty control signal into CPU module work as airliner and Fei Dang airliner；
CPU module is made of dual processors, and by internal bus interaction between dual processors, under the control of control signal on duty, one is
Work as airliner, another works as airliner to be non-；When airliner and it is non- receive externally input dynamical system valve control instruction when airliner,
Solenoid valve valve is controlled, when airliner and Fei Dang airliner receive newest solenoid valve valve control data frame, is generated internal
Solenoid valve valve control data frame, is sent to other side by internal bus, when airliner and it is non-when airliner according to the external electrical arrived first
Magnet valve valve control data frame or internal solenoid valve valve control data frame, output solenoid valve valve control instruction is to driving electricity
Road module；Latching valve valve is controlled, by working as airliner according to latching valve valve control data frame with latching valve control
With the pressure value of latching valve institute's keyholed back plate road, latching valve valve control instruction is exported to drive circuit module, later, readback is self-locking
Electrohydraulic valve actuator line state when noting abnormalities, is notified non-when airliner output phase answers latching valve valve control instruction extremely by internal bus
Drive circuit module；
Drive circuit module receives solenoid valve control signal instruction and latching valve control signal instruction that CPU module is sent, respectively
Output solenoid valve control wave and latching valve control wave realize the switch to dynamical system solenoid valve and latching valve
Control.
2. a kind of highly reliable double redundancy power controller of logic-based frame interaction according to claim 1, feature exist
Switching two-ways cpu power is determined using autonomous discriminant approach in the power switching module method particularly includes: detection external input
Remote control it is quasi- or prohibit from master instruction and CPU module work state information, the CPU module work state information includes when airliner is
It is no normal, non-when whether airliner self-test is normal, whether dual-machine communication is normal, when remote control is quasi- or prohibits from subject to master instruction from master instruction
When, power switching module detects that airliner is worked as in switching when airliner breaks down and non-when airliner self-test is normal, dual-machine communication is normal
The state of signal is controlled when airliner is on duty with non-, and then switches two-ways cpu power.
3. a kind of highly reliable double redundancy power controller of logic-based frame interaction according to claim 1, feature exist
Work as airliner and Fei Dang airliner periodicity self-test in described；And " house dog " signal of other side is detected mutually, when airliner also sends week
" heartbeat signal " of phase property works as airliner to non-, and non-airliner real-time detection of working as is when the state of airliner " house dog " signal and when airliner hair
Periodically pulsing signal is sent, will test result and self-detection result, composition CPU module work state information is sent to power switching mould
Block.
4. a kind of highly reliable double redundancy power controller of logic-based frame interaction according to claim 1, feature exist
It is controlled in the airliner of working as with latching valve control according to the latching valve that latching valve valve control data frame and dynamical system are fed back
Pressure value on pipeline, output latching valve valve control instruction to drive circuit module, specific implementation are as follows:
With latching valve control after airliner parses to obtain latching valve control data frame, judge that latching valve control category is
Bus assignment instructions or autonomous control instruction then directly export corresponding latching valve control and refer to if it is bus assignment instructions
It enables；It is instructed if it is autonomous control, then by the pressure value of externally input dynamical system latching valve institute's keyholed back plate road and control threshold
Value is compared, if pressure value is more than or equal to given threshold, exports latching valve out code, if pressure value is less than setting
Threshold value then exports latching valve open instructions.
5. a kind of highly reliable double redundancy power controller of logic-based frame interaction according to claim 1, feature exist
In described when airliner or non-when the communication of airliner internal bus and external bus communication are all made of the mode of interruption and handle, external input
Solenoid valve valve control data frame in include logic frame count, the logic frame count cycle accumulor when airliner or non-is worked as
Airliner solenoid valve valve controls process flow are as follows:
(a), judge whether solenoid valve valve control data frame comes from external bus interruption, if interrupted from external bus,
Data check is carried out to solenoid valve valve control data frame, check errors then return to major cycle；Verification is correct, then enters step
(b)；If interrupted from internal bus, enter step (c)；
(b), the judgement of logic frame count is carried out, if logic frame count and the frame count phase of internal storage region in current data
Together, then it is assumed that the solenoid valve valve control instruction had executed, then exited interrupt processing；If it is different, then according to agreement
Agreement framing generates internal solenoid valve valve control data and it is sent to other side, the internal electromagnetism immediately by internal bus
It include the logic frame count in the external data received in valve valve control data, meanwhile, output valve control instruction to driving
Circuit module, and the frame count of current memory area is recorded and updates using the logic frame count in the external data received, it exits
Interrupt processing；
(c), data check is carried out to solenoid valve valve control instruction, check errors exit interrupt processing, and verification is correct, then into
Enter step (d)；
(d), the judgement of logic frame count is carried out, if the frame count in data is identical as the frame count of memory block, then it is assumed that the electricity
Magnet valve valve control instruction had executed, then returned to major cycle；If it is different, then output valve control instruction is to driving circuit
Module, and the frame count of current memory area is recorded and updates using the logic frame count in the internal data received, exit interruption.
6. a kind of highly reliable double redundancy power controller of logic-based frame interaction according to claim 1, feature exist
Include N number of completely identical in structure valve driving circuit in valve driving circuit functional module, is respectively used to control N number of solenoid valve
Or latching valve, gated by different chip selection signal, N according in dynamical system solenoid valve or latching valve number determine that N is positive
Integer, N >=1.
7. a kind of highly reliable double redundancy power controller of logic-based frame interaction according to claim 6, feature exist
In: the valve driving circuit include switch mosfet circuit, main driving circuit and standby driving circuit, main drive circuit module and
Standby driving circuit is identical, wherein
Switch mosfet circuit, including the first metal-oxide-semiconductor K11, the second metal-oxide-semiconductor K12, third metal-oxide-semiconductor K21 and the 4th metal-oxide-semiconductor K22 string
It is connected in parallel, K11 connects with K12, and K21 connects with K22, and two series circuits are connected in parallel output to dynamical system again and are used for
Control solenoid valve or latching valve；
Main driving circuit and standby driving circuit receive solenoid valve or latching valve control when airliner and the output of Fei Dang airliner respectively and refer to
It enables, when the solenoid valve or latching valve control instruction of airliner and the output of Fei Dang airliner include that the first control instruction and the second control refer to
It enables；When the first control instruction of airliner exports after instruction latch, booster circuit, for controlling the switch of the first metal-oxide-semiconductor K11,
Second control instruction exports after logical inversion, then through instruction latch, booster circuit, for controlling opening for the second metal-oxide-semiconductor K12
It closes；It is non-to latch when the first control instruction of airliner is instructed, exported after booster circuit, for controlling opening for third metal-oxide-semiconductor K21
It closes, the second control instruction exports after logical inversion, then through instruction latch, booster circuit, for controlling the 4th metal-oxide-semiconductor K22's
Switch.
8. a kind of highly reliable double redundancy power controller of logic-based frame interaction according to claim 1, feature exist
In described when airliner and Fei Dang airliner internal bus use the McBSP communication interface of CPU to realize.
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| CN108021406B (en) * | 2017-11-03 | 2021-06-01 | 中国航空工业集团公司西安航空计算技术研究所 | Dual-redundancy hot backup CPU system suitable for onboard computer |
| CN109062184B (en) * | 2018-08-10 | 2021-05-14 | 中国船舶重工集团公司第七一九研究所 | Double-machine emergency rescue equipment, fault switching method and rescue system |
| CN111082485A (en) * | 2019-11-26 | 2020-04-28 | 上海空间电源研究所 | Thermal battery system with voltage output management function |
| CN111399368A (en) * | 2020-03-26 | 2020-07-10 | 电子科技大学 | Redundancy technology of multi-path electromagnetic valve driving system |
| CN113110124B (en) * | 2021-03-11 | 2022-08-19 | 上海新时达电气股份有限公司 | double-MCU control method and control system |
| CN113868086B (en) * | 2021-09-28 | 2024-05-28 | 东风电子科技股份有限公司 | Method, device, processor and computer readable storage medium for realizing monitoring and recovering for double-chip communication state |
| CN116931415B (en) * | 2023-09-18 | 2023-12-19 | 西北工业大学 | Autonomous redundancy management method for dual-redundancy electromechanical actuating system controller |
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