CN106483949B - A kind of aviation dual controller switching control algorithm - Google Patents
A kind of aviation dual controller switching control algorithm Download PDFInfo
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- CN106483949B CN106483949B CN201611145527.9A CN201611145527A CN106483949B CN 106483949 B CN106483949 B CN 106483949B CN 201611145527 A CN201611145527 A CN 201611145527A CN 106483949 B CN106483949 B CN 106483949B
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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
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
- G05B23/0286—Modifications to the monitored process, e.g. stopping operation or adapting control
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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
- G05B2219/24065—Real time diagnostics
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Abstract
The invention discloses a kind of aviation dual controller switching control algorithms, which is characterized in that the control algolithm controls aero-engine by using dual redundant control system.The dual redundant control system includes sequentially connected sensor, control unit, switch unit and actuator；Described control unit includes the controller ECU_A connecting respectively with switch unit and controller ECU_B, and two controllers issue switch-over control signal to switch unit respectively；After switch unit receives switching signal, the execution of switching action is driven；Switch unit is according to switching state, the feedback signal of switching state is provided to two controllers, two controllers judge whether that switching is completed according to the feedback signal of reading, to guarantee reasonability, the timeliness of switching that dual controller controls actuator driven, guarantee stability, the safety of engine operation control.
Description
Technical field
The invention belongs to aviation electronics control technology fields, and in particular to a kind of aviation dual controller switching control algorithm.
Background technique
Engine controller is the control core of engine management system, and basic function is with engine speed and load
Based on, sensor signal is acquired, control instruction is sent to related executing agency after mathematical model calculation processing, is executed
Scheduled control function, to make engine under real-time working condition and extraneous operating condition always in optimal combustion state.
Most of engines are controlled it using single controller, if control system breaks down, engine is easier to send out at this time
Raw safety hazards.Aero-engine has the relevant demand of higher safety and standard because of the particularity of Aviation Industry
It is required that, using the coordinated control of dual redundant controller, control, which can be improved, is so the method using single controller is no longer applicable in
The safety of system reduces the probability for causing accident to occur due to failure.
Summary of the invention
According to the above-mentioned deficiencies of the prior art, the technical problem to be solved by the present invention is to propose a kind of aviation dual controller
Switching control algorithm according to driver command and system mode, and combines the Redundant Control design on hardware, realizes dual controller
Coordination switching control guarantee to start to guarantee reasonability, the timeliness of switching that dual controller controls actuator driven
The stability of machine operation control, safety.
In order to solve the above-mentioned technical problem, a kind of the technical solution adopted by the present invention are as follows: aviation dual controller switching control
Algorithm, which is characterized in that the control algolithm controls aero-engine by using dual redundant control system.It is described double superfluous
Remaining control system includes sequentially connected sensor, control unit, switch unit and actuator；Described control unit includes difference
The controller ECU_A and controller ECU_B connecting with switch unit, two controllers issue switching control to switch unit respectively
Signal；After switch unit receives switching signal, the execution of switching action is driven；Switch unit is according to switching state, to two
Controller provides the feedback signal of switching state, and two controllers judge whether that switching is completed according to the feedback signal of reading.Institute
Stating sensor includes sensor ECU_A, public sensor and sensor ECU_B, and sensor ECU_A is connect with controller ECU_A,
Sensor ECU_B and controller ECU_B, public sensor are connect with controller ECU_A, controller ECU_B respectively.The sensing
Device ECU_A, sensor ECU_B include crankshaft sensor, phase detector, rail pressure sensor, intake air temperature sensor, increase
Pressure sensor.The public sensor includes fuel pressure transmitter, water temperature sensor, engine oil pressure pickup and machine oil temperature
Spend sensor.There are three types of mode, mode one is " ECU_A master control " for the switching control of the dual controller, and mode two is " ECU_B
Master control ", mode three are " autonomous control ", and Three models carry out model selection according to driver's external demand signal.When selection mould
In formula a period of time, tube controller ECU_A and controller ECU_B is not in which kind of state, controller ECU_A role switching to master control, control
To auxiliary control, actuator is controlled device ECU_B role switching processed by ECU_A.When selection mode two, not tube controller ECU_A
Which kind of state is in controller ECU_B, and controller ECU_B role switching to master control, controller ECU_A role switching is to auxiliary
Control, actuator are controlled by ECU_B.When selection mode three, controller ECU_A and controller ECU_B according to system mode,
Coordinate the switching for carrying out role and actuator controls；Controller ECU_A role is master control, controller under three default conditions of mode
ECU_B role is auxiliary control.
The medicine have the advantages that the present invention is according to driver command and system mode, and combine the redundancy control on hardware
Meter is set up, realizes the coordination switching control of dual controller, to guarantee reasonability that dual controller controls actuator driven, cut
The timeliness changed guarantees stability, the safety of engine operation control.
Detailed description of the invention
Content expressed by this specification attached drawing and the label in figure are briefly described below:
Fig. 1 is the redundancy control system structure chart of a specific embodiment of the invention.
Fig. 2 is the switching control hardware structure diagram of a specific embodiment of the invention.
Fig. 3 is the switching control flow chart of a specific embodiment of the invention.
Specific embodiment
Below against attached drawing, by the description of the embodiment, for example related each component of a specific embodiment of the invention
Shape, construction, the mutual alignment between each section and connection relationship, the effect of each section and working principle, manufacturing process and
Operate with method etc., is described in further detail, to help those skilled in the art to inventive concept of the invention, technology
Scheme has more complete, accurate and deep understanding.
Feature 1: the structure design of switching control
The switching control structure of dual controller ECU_A and ECU_B consist of three parts: switch-over control signal, switching action
Driving, switching state feedback.According to switching demand, switch-over control signal is issued to switch unit respectively from dual controller.Switching
After unit receives switching signal, the execution of switching action is driven.Switch unit is cut according to switching state to dual controller offer
Change the feedback signal of state.Dual controller judges whether that switching is completed according to the feedback signal of reading.
Feature 2: switching control model selection
Dual controller switching control provides Three models selection, and mode 1 is " ECU_A master control ", and mode 2 is " ECU_B master
Control ", mode 3 are " autonomous control ".Three models carry out model selection according to driver's external demand signal.When selection mode 1
When, which kind of state tube controller ECU_A and ECU_B is not in, ECU_A role switching to master control, and ECU_B role switching is to auxiliary
Control, actuator are controlled by ECU_A.When selection mode 2, which kind of state tube controller ECU_A and ECU_B is not in,
ECU_B role switching to master control, ECU_A role switching to auxiliary control, actuator is controlled by ECU_B.When selection mode 3,
Controller ECU_A and ECU_B coordinates the switching for carrying out role and actuator control according to system mode.Under 3 default conditions of mode
ECU_A role is master control, and ECU_B role is auxiliary control.
Feature 3: switching control process
When model selection be mode 1 " ECU_A master control " or mode 2 " ECU_B master control ", controller ECU_A and ECU_B regardless of
Which kind of state is system be in, and all can carry out corresponding role switching by external command requirement.Controller ECU_A and ECU_B difference
Respective switching signal, and the status signal of real-time detection switch unit feedback are controlled, to judge actually accomplishing for switching action
Situation.
When model selection is mode 3 " autonomous control ", controller ECU_A and ECU_B coordinates to carry out according to system mode
Role switching control.System mode is determined according to the fault characteristic that controller detects, fault characteristic is by fault type, event
Hinder generating state, fault restoration state, failure greatest priority composition.When system mode changes, controller root first
Role switching is judged whether to according to system mode.If necessary to carry out role switching, then controller is sent to square controller
Switching request message；After receiving request message to square controller, compares the fault characteristic of both sides' controller, judged whether with this
Agreement switches over.Dual controller drives switch unit to switch over control according to judging result.
In conjunction with switching control structure, dual controller can complete the switching control and state of a control to actuator in 10 milliseconds
Confirmation, reduce due to switching and time for causing engine operation unstable.
One, the structure of switching control
Fig. 1 clearly describes the composition of the redundancy control system based on dual controller.In engine redundancy electric-control system
In, it is run using dual controller ECU_A and ECU_B Cooperation controlling engine.Same type of sensor is respectively as controller
The input of ECU_A and ECU_B.For dual controller by control switch unit, decision is that controller ECU_A or ECU_B control are held
Row device.The role of controller ECU_A and ECU_B are divided into master control and auxiliary control, the similarities and differences of master control and auxiliary control control mode are as follows:
(1) master controller and auxiliary control controller all read its exclusive and shared input signal, and enter and operate normally
Working condition.
(2) master controller is joined according to input signal by the control that actuator control is calculated in policy control algorithm
Number, executes control to actuator according to control parameter.
(3) auxiliary control controller is joined according to input signal by the control that actuator control is calculated in policy control algorithm
Number, but be not involved in and control is executed to actuator.
The switching control structure of switch unit is cut as shown in Fig. 2, controller ECU_A and ECU_B control switch unit respectively
It changes unit and switching state is fed back into dual controller.
(1) controller switch-over control signal: requiring according to switching, and controller ECU_A and ECU_B are controlled using respective switching
Signal processed controls switch unit.
(2) driving of switching action: according to the switch-over control signal of controller, switch unit movement keeps actuator final
By desired controller control.
(3) feedback of switching state: switch unit is according to final switching state, while to controller ECU_A and ECU_B
Feed back current switching state.Whether dual controller succeeds according to the switching that the current switching state confirmation of switch unit requires.
Two, the control flow of different switching control modes
After controller system power-up initializing, the external demand signal of driver inputs to dual controller simultaneously.Controller
Enter different scheme controls according to driver's external demand signal, specific operation control flow is as shown in Figure 3.
When model selection is mode 1 " ECU_A master control ", indicate driver requested control system by ECU_A as master control
Device processed carries out drive control to actuator.If ECU_A maintains the statusquo as master controller before model selection.If mode
ECU_B then needs to switch over movement as master controller before selecting.
(1) when controller ECU_A detects selection mode 1, ECU_A control switching signal, make switch unit drive to by
ECU_A is as major state, the real-time detecting state feedback signal of controller ECU_A, to confirm the actual performance of switching.
(2) when controller ECU_B detects selection mode 1, ECU_B control switching signal, make switch unit drive to by
ECU_A is as major state, the real-time detecting state feedback signal of controller ECU_B, to confirm the actual performance of switching.
When model selection is mode 2 " ECU_B master control ", indicate driver requested control system by ECU_B as master control
Device processed carries out drive control to actuator.If ECU_B maintains the statusquo as master controller before model selection.If mode
ECU_A then needs to switch over movement as master controller before selecting.
(1) when controller ECU_A detects selection mode 2, ECU_A control switching signal, make switch unit drive to by
ECU_B is as major state, the real-time detecting state feedback signal of controller ECU_A, to confirm the actual performance of switching.
(2) when controller ECU_B detects selection mode 2, ECU_B control switching signal, make switch unit drive to by
ECU_B is as major state, the real-time detecting state feedback signal of controller ECU_B, to confirm the actual performance of switching.
In mode 1 and mode 2, dual controller can all be cut regardless of system mode to the state that instruction requires
It changes.
When model selection is mode 3 " autonomous control ", indicate that driver requested dual controller is carried out according to system mode
Coordinated control, to guarantee that engine stabilizer is run.System mode is determined according to the fault characteristic that controller detects.Failure
Characteristic is made of characteristics such as fault type, failure generating state, fault restoration state, failure greatest priorities.
Under 3 default conditions of mode, the role of controller ECU_A is master control, and the role of controller ECU_B is auxiliary control.When one
When a controller detects that certain type fault has occurred or certain type fault has been repaired, controller is according to fault characteristic and current control
Device Role judgement processed whether to another controller send switching request message.
(1) when auxiliary control controller detects that certain type fault has occurred, regardless of fault characteristic, auxiliary control controller is not
Send role switching request message.
(2) when master controller detects that certain type fault has occurred, controller judgement has currently been broken down most
Whether big priority is less than 10.If greatest priority, less than 10, master controller does not send the request of role switching, not into
Row switching action, continues to run；If greatest priority is greater than 10, it is required that master controller carries out role switching, lead at this time
The request message of role switching need to be sent to auxiliary control controller by controlling controller.
● master controller is by failure ID, failure generating state, current controller failure greatest priority, switching request mark
Will forms switching request message frame, sends to auxiliary control controller.
● after auxiliary control controller receives the switching request message with switching request mark, auxiliary control controller utilizes reception
Other side's failure greatest priority in message frame is compared by the message frame arrived with faults itself greatest priority.If other side
Failure greatest priority is lower, then sends the message response with " refusal role switching mark " to master controller, not into
The movement of row role switching；If other side's failure greatest priority is higher, send to master controller with " agreement role cuts
The message response of dehorn will ", and control the movement that switching signal carries out master switching.
● master controller receives the message response of return, if addressee refuses role switching, master controller is not
Movement is switched over, is continued to run；If other side agrees to carry out role switching, it is auxiliary that master controller controls switching signal progress
Control the movement of switching.
● after master controller and the control switching signal progress role switching movement of auxiliary control controller, with 1 millisecond of period
Switching state feedback signal is detected, the actual performance of switching is detected.If detecting switching state in 50 milliseconds
It updates, then the role of master controller and auxiliary control controller is updated to auxiliary control and master control respectively, and switching is completed；If at 50 milliseconds
Interior switching state does not update yet, shows switch unit exception, and the role of master controller and auxiliary control controller does not update at this time, and
This failure is saved.
(3) when the failure that master controller detects that certain has occurred has been repaired, regardless of fault characteristic, master control control
Device does not send the request message of role switching.
(4) when the failure that auxiliary control controller detects that certain has occurred has been repaired, it is desirable that controller is sent out to square controller
Role switching request message is sent, to coordinate to be confirmed whether to need to carry out role switching with other side.
● auxiliary control controller is by failure ID, fault restoration state, current controller failure greatest priority, switching request mark
Will forms switching request message frame, sends to master controller.
● after master controller receives the switching request message with switching request mark, master controller will be received
Message frame in failure greatest priority be compared with faults itself greatest priority.If failure is maximum preferential in message frame
Grade is higher, then sends the message response with " refusal role switching mark " to auxiliary control controller, and without role switching
Movement；If failure greatest priority is lower in message frame, send to auxiliary control controller with " agreeing to role switching mark "
Message response, and control switching signal carry out auxiliary control switching movement.
● auxiliary control controller receives the message response of return, if addressee refuses role switching, auxiliary control controller is not
Switch over movement；If other side agrees to carry out role switching, auxiliary control controller controls switching signal and carries out master switching
Movement.
● after master controller and the control switching signal progress role switching movement of auxiliary control controller, dual controller is all with 1
The cycle detection switching state feedback signal of millisecond, to detect the actual performance of switching.If detected in 50 milliseconds
Switching state has been updated, then the role of master controller and auxiliary control controller is updated to auxiliary control and master control respectively, and switching is completed；
If switching state does not update yet in 50 milliseconds, show switch unit exception, at this time master controller and auxiliary control controller
Role does not update, and this failure is saved.
The present invention is exemplarily described above in conjunction with attached drawing, it is clear that the present invention implements not by aforesaid way
Limitation, as long as the improvement for the various unsubstantialities that the inventive concept and technical scheme of the present invention carry out is used, or without changing
It is within the scope of the present invention into the conception and technical scheme of the invention are directly applied to other occasions.This hair
Bright protection scope should be determined by the scope of protection defined in the claims.
Claims (7)
1. a kind of aviation dual controller switching control algorithm, which is characterized in that the control algolithm is controlled by using dual redundant is
System controls aero-engine, and the dual redundant control system includes sequentially connected sensor, control unit, switching list
Member and actuator；Described control unit includes the controller ECU_A connecting respectively with switch unit and controller ECU_B, and two
Controller issues switch-over control signal to switch unit respectively；After switch unit receives switching signal, switching action is driven
It executes；Switch unit provides the feedback signal of switching state according to switching state, to two controllers, and two controllers are according to reading
The feedback signal taken judges whether that switching is completed；
There are three types of mode, mode one is " ECU_A master control " for the switching control of two controllers, and mode two is " ECU_B master control ", mould
Formula three is " autonomous control ", and Three models carry out model selection according to driver's external demand signal；
When selection mode three, controller ECU_A and controller ECU_B coordinate to carry out role and actuator according to system mode
The switching of control；Controller ECU_A role is master control under three default conditions of mode, and controller ECU_B role is auxiliary control；
System mode is determined according to the fault characteristic that controller detects, by fault type, failure shape occurs for fault characteristic
State, fault restoration state, failure greatest priority composition；When system mode changes, controller is first according to system shape
State judges whether to role switching；If necessary to carry out role switching, then controller sends switching request to square controller
Message；After receiving request message to square controller, compare the fault characteristic of both sides' controller, judges whether to agree to carry out with this
Switching；
Under three default conditions of mode, when a controller detects that certain type fault has occurred or certain type fault has been repaired,
Whether controller to another controller sends switching request message according to fault characteristic and current controller Role judgement:
(1) when auxiliary control controller detects that certain type fault has occurred, regardless of fault characteristic, auxiliary control controller is not sent
Role switching request message；
(2) when master controller detects that certain type fault has occurred, the maximum that controller judgement has currently been broken down is excellent
Whether first grade is less than 10；If greatest priority, less than 10, master controller does not send the request of role switching, without cutting
Move work, continues to run；If greatest priority is greater than 10, it is required that master controller carries out role switching, at this time master control control
Device processed need to send the request message of role switching to auxiliary control controller；
Master controller forms failure ID, failure generating state, current controller failure greatest priority, switching request mark
Switching request message frame is sent to auxiliary control controller；
After auxiliary control controller receives the switching request message with switching request mark, auxiliary control controller is disappeared using what is received
Frame is ceased, other side's failure greatest priority in message frame is compared with faults itself greatest priority；If other side's failure is most
Big priority is lower, then sends the message response with " refusal role switching mark " to master controller, and without role
The movement of switching；If other side's failure greatest priority is higher, send to master controller with " agreement role switching mark
The message response of will ", and control the movement that switching signal carries out master switching；
Master controller receives the message response of return, if addressee refuses role switching, master controller is without cutting
Move work, continues to run；If other side agrees to carry out role switching, master controller controls switching signal and carries out auxiliary control switching
Movement.
2. aviation dual controller switching control algorithm according to claim 1, which is characterized in that the sensor includes passing
Sensor ECU_A, public sensor and sensor ECU_B, sensor ECU_A are connect with controller ECU_A, sensor ECU_B with
Controller ECU_B connection, public sensor are connect with controller ECU_A, controller ECU_B respectively.
3. aviation dual controller switching control algorithm according to claim 1, which is characterized in that switch unit is independently of control
Unit processed, and closed-loop system is formed with control unit.
4. aviation dual controller switching control algorithm according to claim 1, which is characterized in that the practical control of actuator
It is to be driven by switch unit selection by ECU_A or driven by ECU_B.
5. aviation dual controller switching control algorithm according to claim 1, which is characterized in that when selection mode for the moment,
Tube controller ECU_A and controller ECU_B is not in which kind of state, controller ECU_A role switching to master control, controller ECU_
B role switching to auxiliary control, actuator is controlled by ECU_A.
6. aviation dual controller switching control algorithm according to claim 1, which is characterized in that when selection mode two,
Tube controller ECU_A and controller ECU_B is not in which kind of state, controller ECU_B role switching to master control, controller ECU_
A role switching to auxiliary control, actuator is controlled by ECU_B.
7. aviation dual controller switching control algorithm according to claim 1, which is characterized in that mode three is by using only
Special handoff algorithms realize the quickly and effectively autonomous switching control of role.
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| CN107100741B (en) * | 2017-05-08 | 2019-05-10 | 南京航空航天大学 | A kind of method and its system improving fanjet control system performance |
| 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 |
| CN108999712A (en) * | 2018-09-30 | 2018-12-14 | 广西玉柴机器股份有限公司 | A kind of engine electric-controlled control redundant system |
| CN113357068A (en) * | 2021-06-07 | 2021-09-07 | 北京理工大学 | Redundant ignition system of aviation piston engine |
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