CN106527465A - Multi-order redundant captive balloon attitude control system and cooperative control method thereof - Google Patents
Multi-order redundant captive balloon attitude control system and cooperative control method thereof Download PDFInfo
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Abstract
The invention discloses a multi-order redundant captive balloon attitude control system and a cooperative control method thereof. The control system is divided into three logic layers on implementation logic: a system layer, a link layer and a processing layer. The system layer performs dual redundancy on a finger-controlled computer and a console of a ground control subsystem and a balloon-controlled computer of a control-on-balloon extension, and adopts a system control right processing method. The link layer performs dual redundancy on the finger-controlled computer, the balloon-controlled computer and communication devices between executers, and adopts a data exchange method. The processing layer performs dual redundancy on a processor of the balloon-controlled computer and processors of the executers, and adopts a processor arbitration decision method. The design of each logic layer has relatively independent function division and task division, and relatively independent control is simultaneously provided for each logic layer, so that the degree of coupling between devices on different logic layers is reduced, and the cooperativity of redundant devices on the same logic layer is strengthened.
Description
Technical field
The present invention relates to a kind of control system of large-scale aerostatics observation and control technology field, more particularly to a kind of multistage redundancy
Captive balloon attitude control system and its cooperative control method.
Background technology
Large-scale captive balloon as large-scale payload platform, with advanced in performance, with high content of technology, perfect in shape and function, work
Stably, the advantages of cost performance is high.No matter exist extensively in military and national defense field or national economy field, its equipment and technology
Application prospect, it may have obvious Social benefit and economic benefit.
, due to its special operating characteristic, lift-off height is high, the hang time is long, needs to have 24 for large-scale captive balloon
The continual all weather operations ability of hour.Firstly, since aerostatics own vol is big, its attitude is difficult to control to and keeps；Its
Secondary, aerostatics control system needs the acquisition process for completing more or less a hundred balloon system parameter, implements dozens of controller and execution
Device is automatically controlled, and Control System Design and control method are realized complicated；Again, as the environment residing for floating aloft work is disliked
Bad, various exogenous interference can cause system data to produce disturbance, if concerning system control decision, resulted even in when serious
Incorrect decision.Therefore, large-scale captive balloon is high to the security reliability requirement of its control system.
Captive balloon application study is in the ascendant, realizes captive balloon system industry the only way which must be passed, is how to realize height
Reliability, high real-time, high-efficiency are no lack of the captive balloon control system of ease for use again, and this is also to build whole floating platform
The core content of system, while being to allow the user for not possessing too many professional ability that captive balloon can be used to face to conciliate
Major issue certainly.
The content of the invention
For the critical system design and method problem of implementation of urgent need to resolve, the invention provides a kind of multistage redundancy system
Stay balloon attitude control system and its cooperative control method.
Concrete technical scheme of the present invention is as follows：A kind of multistage redundancy captive balloon attitude control system, which includes that ground is controlled
Subsystem and it is controlled by subsystem on multiple balls of the ground control subsystem；On each ball, subsystem includes control point on ball
Machine, execution controller, multiple actuators, multiple sensors, multiple signal pickers；On the ball, control extensions receive the ground and control
The control command of subsystem, and the sampled signal of the sensor and signal picker is gathered according to the control command and this is returned
Ground control subsystem, controls the corresponding actuator operation of at least one actuator driven always according to the control command；
Wherein, the multistage redundancy captive balloon attitude control system is logically divided into three logical layers from realization：System
Layer, link layer and process layer；The charge computer and indication control board of the ground control subsystem are carried out dual redundant by the system layer, and
The ball control computer of control extensions on the ball is carried out into dual redundant also；The Redundant Control of the system layer is realized using system control
Processing method；Communication equipment between the charge computer and each ball control computer is carried out dual redundant by the link layer：It is double superfluous
Communication equipment between the ball control computer and each actuator is also carried out double superfluous by remaining transceiver, binary channels earth-space communication
It is remaining：Binary channels performs communication, binary channels communication between plates；The Redundant Control of the link layer is realized adopting method for interchanging data；At this
The processor of each ball control computer is carried out dual redundant by reason layer：Dual redundant computer card, also by the process of each actuator
Device carries out dual redundant：Dual redundant FPGA performs controller, multi-path redundancy sensor, multi-path redundancy collector；The process layer it is superfluous
Remaining control realization adopts processor arbitration decisions method；Wherein, the design of each logical layer possesses relatively independent function and divides
Divide with task, while relatively independent control is provided for each logical layer, on the one hand reduce equipment room on Different Logic layer
The degree of coupling, on the other hand strengthen the concertedness between the redundance unit on same logical layer.
Used as the further improvement of such scheme, whole control system is drawn by the system control authority processing method of the system layer
It is divided into several processing units, each processing unit has independent control authority, redundance unit is exchanging control in unit
Power mode processed realizes collaborative work.
Further, the control authority includes the ball control control of the charge control of the charge computer, the ball control computer
System power, the execution control of the execution controller.
Yet further, the decision-making treatment method of the ball control control is：When ball control control is set to automatically configure control
System temporary, in each cycle of the ball control computer in each program performing, obtains and accuses instruction, implements control task, update system
All information of uniting simultaneously are exported in real time at least one execution controller；The working condition that controller monitors other side in real time is performed, is handed over
System information is changed, data syn-chronization is completed；Perform controller and cannot once obtain data message, while not examined by " heartbeat " line
The ball control computer normal condition is measured, then upgrades to main equipment, reset faulty equipment, seamless pipe ball control control continue
The tasks carrying in a upper cycle, it is ensured that control system work well.
Used as the further improvement of such scheme, the exchange data of the link layer is drawn by the method for interchanging data of the link layer
It is divided into two class of control data and status data, the control data has one-dimensional order feature, and the status data has broadcast interaction
Feature, it is ensured that the accurate safety that system control node is performed to the real-time effective and control data of state data acquisition；The system
Control node is control extensions and execution controller on the ball.
Further, the method for interchanging data of the link layer：Control data ensures can only be with the charge of the limit that is possessed of control power
Computer is initiated and is performed, and on ball, control extensions are only responsible for forwarding；When normal communication link is normal, control data is from master control chain
Road send, once normal communication link failure, control data be then switched to emergency communication link transmission；Equally, control section on ball
Point is also to perform corresponding control command by control extensions on ball, and execution controller is intended only as control data forward node and makes
With；For system state data, two charge computer real-time exchange system state datas being mutually redundant, it is ensured that state
Data it is complete consistent, while being interacted with other nodes by way of broadcast, multistage redundancy captive balloon attitude control system
Arbitrary node complete system status information can be obtained with inquiry mode.
Used as the further improvement of such scheme, the arbitration modules are monitored to all processors in real time, and evaluation is processed
Process task is switched to state normal processor, reset state exception handler by device running status, it is impossible to eliminate failure after
From defective device, and report result.
Further, the synchronous communication between the arbitration modules real-time control processor, in the way of shared memory space
Realize the data sharing between two processor.
Yet further, ensure the Program Synchronization of two processor inside the arbitration modules using mutex amount mechanism, adopt
Whether failure is judged with the step-by-step counting mode for intercepting processor, system control tasks are preferentially transported on high priority processor
OK, once which breaks down, system bus is delivered to low priority processor by arbitration modules, and adapter processor utilizes register
Temporal data and shared drive data, restoring scene environment and routine data, it is ensured that in task graceful migration to adapter processor
Continue executing with.
The present invention also provides a kind of cooperative control method of multistage redundancy captive balloon attitude control system, by multistage redundancy
Captive balloon attitude control system is logically divided into three logical layers from realization：System layer, link layer and process layer；Each is patrolled
The design for collecting layer possesses relatively independent function division and task division, while providing relatively independent control for each logical layer
On the one hand system, reduces the degree of coupling of equipment room on Different Logic layer, on the other hand strengthen redundance unit on same logical layer it
Between concertedness, the multistage redundancy captive balloon attitude control system is above-mentioned arbitrarily multistage redundancy captive balloon gesture stability system
System.
The present invention has the beneficial effect that：
1. the present invention is directed to captive balloon gesture stability many places key point, creates the control system structure of redundancy collaborative work
Frame, enhances System Fault Tolerance control ability, it is ensured that the high security and high reliability of the controlled operation of aerostatics carrier；
2. multistage redundancy design method of the invention, based on different stage equipment, difference in functionality demand in system, plans and realizes
Different control decisions and method, evade the risk of Redundancy Design introducing, reduce system design complexity, effectively increase system
Robustness and anti-interference；
3. multinomial self-adaptation control method of the invention, it is ensured that system orderly function under automatic control/remote control mode, realizes being tethered at
The intelligentized control method of balloon, solves the difficulty that captive balloon is had high demands using operator's professional knowledge, and the system possesses close friend's
Man-machine interface and preferable ease for use；
4. design proposed by the present invention, feature are superior, and the degree of modularity is high, portable strong, on the one hand significantly
The maintenanceability of raising system, the admissible versatility and inheritance as most of captive balloon control systems of another aspect set
Meter.
Description of the drawings
Fig. 1 is the Organization Chart of the multistage redundancy captive balloon attitude control system of the embodiment of the present invention；
Fig. 2 is the logical layer division figure of the multistage redundancy captive balloon attitude control system of the embodiment of the present invention；
Fig. 3 is the control authority processing method schematic diagram of the system layer of the embodiment of the present invention；
View when Fig. 4 a are the data exchanges of the link layer of the embodiment of the present invention；
Another kind of view when Fig. 4 b are the data exchanges of the link layer of the embodiment of the present invention；
Fig. 5 is the structural representation of the ball control computer of the embodiment of the present invention；
Fig. 6 is the structural representation of the execution controller of the embodiment of the present invention.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, it is below in conjunction with drawings and Examples, right
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, and
It is not used in the restriction present invention.
Refer to Fig. 1, the multistage redundancy captive balloon attitude control system of the present invention be divided on main frame ground and
Aerial two parts, i.e. ground control subsystem and it is controlled by subsystem on multiple balls of the ground control subsystem.On each ball
Subsystem includes control extensions on ball, performs controller, multiple actuators, multiple sensors, multiple signal pickers.On the ball
Control extensions receive the control command of the ground control subsystem, and gather the sensor and signals collecting according to the control command
The sampled signal of device simultaneously returns the ground control subsystem, controls at least one actuator driven always according to the control command corresponding
Actuator operation.
In the present embodiment, control system is mainly distributed on ball and ground control centre.On ball, system equipment includes control
Extension set processed, execution controller, executing agency and various types of signal collector, sensor, are responsible for realizing balloon attitude, utricule shape
The collection of the more or less a hundred balloon parameter such as state, heaving pile state, ambient parameter and process；The control for receiving ground control centre simultaneously refers to
Order, implements the equipment control of dozens of executing agency, under automatic control or remote control mode, according to current system conditions, ambient parameter
Corresponding control action is exported etc. self adaptation, it is ensured that captive balloon system is all the time in correct gesture stability scope and normal
Working condition.
Ground control centre equipment completes the synthesis display of balloon control system, including all kinds of collection sensing datas, execution
On equipment working state, system automatic control/remote control and order execution state, ball under ball equipment room Content of Communication real time record, gas
The record of ball fault message and warning etc., receive manual intervention, issue control instruction.
Due to the distributed feature of captive balloon attitude control system, with more independent failure point, it is necessary to using superfluous
It is remaining to design to improve and ensure system survivability.The present invention is processed for the task of control system, control is performed, data are handed over
Mutually, accuse that multiple key links such as analysis carry out Redundancy Design.The complexity of control system itself, many redundancies for adding system set
Meter further increases complexity, it is therefore desirable to collaborative work between strict guarantee various parts.
Multistage redundancy captive balloon attitude control system is logically divided into three logical layers from realization：System layer, link
Layer and process layer, as shown in Figure 2.The design of each logical layer possesses relatively independent function and divides and task division, same to hour hands
Relatively independent control decision and method are provided to each logical layer.
First, the Redundancy Design of system layer
System layer is to carry out to design for module level one integral piece level equipment, is the system-level redundancy towards holonomic system function.
Using one of one integral piece as main control device, other are in hot standby state from equipment.The Redundancy Design of system layer mainly includes：It is double
Redundancy accuses computer, dual redundant ball control computer, dual redundant indication control board etc..The Redundant Control of this logical layer is realized using specific
System control authority processing method.
The control method of system layer mainly controls authority processing method using system：As shown in figure 1, whole control system is divided
For several processing units, from computer system used for command and control center processing unit to ball, control extensions processing unit is again to performing at control
Reason unit etc., each processing unit has independent control authority, and in unit, redundance unit is exchanging control mode reality
Existing collaborative work.System layer Redundancy Design mainly includes that dual redundant accuses the aobvious control of computer, dual redundant ball control computer, dual redundant
Platform etc..The Redundant Control of this logical layer is realized controlling authority processing method using specific system.System control is by from bottom to top
Divide, major design includes accusing control, ball control control, performs control etc..
By taking control extensions on ball as an example, decision-making treatment methods of the Fig. 3 for ball control control.When ball control control is set to certainly
During dynamic configuration control, inside unit two redundance units possess control for main equipment, in each week of each program performing
Phase, obtain and accuse instruction, implement control task, all information of more new system are simultaneously exported in real time to from equipment.Supervised from equipment in real time
The working condition of other side, exchange system information is listened to complete data syn-chronization, synchrodata includes control command, running parameter, execution
State etc..Data message cannot once be obtained from equipment, while main equipment normal condition is not detected by by " heartbeat " line, then
Upgrade to main equipment, reset faulty equipment, seamless pipe ball control control continued the tasks carrying in a upper cycle, it is ensured that control
System work well.
2nd, the Redundancy Design of link layer
Link layer is responsible for completion system layer to function mapping and the message transmission of process layer, while realizing between each node of system
Interconnect.Fault-tolerant data communication network mainly includes dual redundant transceiver, binary channels earth-space communication, and binary channels performs logical
Letter, binary channels communication between plates etc..The control of intercepting, switch and flow of communication network is realized by software.
The control method of link layer mainly adopts specific method for interchanging data：The data for exchanging are needed to divide link layer
For two class of control data and status data, the characteristics of control data has one-dimensional order, status data has the spy of broadcast interaction
Point, so as to ensure that accurate safety of the system control node to the real-time effective and control data execution of state data acquisition.
By taking earth-space communication as an example, between two groups of transceivers are constituted on ground center and ball, normal number is passed and emergent number biography
The communication link that two-way is mutually redundant, the Link State of system monitoring wireless communication, and complete to two-way digital transmission communication operating conditions
With the real-time switching of backup state.Fig. 4 a illustrate corresponding data exchange control method with Fig. 4 b, and System Control Data only ensures
Can initiate and perform with the main equipment being possessed of control power, only be responsible for forwarding from equipment.When normal communication link is normal, number is controlled
According to from master control link send, once normal communication link failure, control data be then switched to emergency communication link transmission.Equally,
On ball, control node is also to perform corresponding control command by main equipment, and being intended only as control data forward node from equipment makes
With.For system state data, two computer real-time exchange system state datas being mutually redundant, it is ensured that status data
It is complete consistent, while can be interacted with other nodes by way of broadcast, the arbitrary node of control system can be with inquiry
Mode obtains complete system status information.
3rd, process layer Redundancy Design
Process layer Redundancy Design, the main computer card design for including dual redundant processor, dual redundant FPGA perform control
Device design processed, the design of multi-path redundancy sensor collector etc..
The Redundant Control of this logical layer is realized using specific processor arbitration decisions method：Design arbitration modules are right in real time
All processors are monitored that process task is switched to state normal processor, reset state by evaluation processor running status
Exception handler, it is impossible to isolate defective device when eliminating failure, and report result.Arbitration modules real-time control processor it
Between synchronous communication, the data sharing between two processor is realized in the way of shared memory space.Using mutual inside arbitration modules
Scold Semaphore Mechanism to ensure the Program Synchronization of two processor, whether failure judged using the step-by-step counting mode for intercepting processor,
System control tasks are preferentially run on high priority processor, once which breaks down, system bus is paid by arbitration modules
To low priority processor, adapter processor utilizes register temporal data and shared drive data, restoring scene environment and journey
Ordinal number evidence, it is ensured that continuing executing with task graceful migration to adapter processor.
In sum, the cooperative control method of multistage redundancy captive balloon attitude control system of the invention, will be multistage superfluous
Remaining captive balloon attitude control system is logically divided into three logical layers from realization：System layer, link layer and process layer；Each
The design of logical layer possesses relatively independent function and divides and task division, while providing relatively independent for each logical layer
Control, on the one hand reduces the degree of coupling of equipment room on Different Logic layer, on the other hand strengthens the redundance unit on same logical layer
Between concertedness.
Referring to Fig. 1, this multistage redundancy captive balloon attitude control system, on its ball, control extensions are on ball
The information processing centre of control device, collection are reached in the control of ground under sensing data on balloon and equipment working state
The heart, while the control command received from control centre completes the remote control to balloon, or according to setting on specific Row control ball
It is standby to complete automatic control function.Extension set internal signal passes through the printing backboard of design, extension set pinboard with the signal of external device
Complete the interconnection and input/output of signal.Extension set is by ball control computer, ball control voltage-stablizer, dual redundant differential pressure pick-up, positioning system
The equipment such as system composition.On ball, control extensions mainly realize following processing function：
Balloon parameter processing function：Collection to balloon state parameter is realized based on sensor network technique, by data
Fusion is processed with redundancy to complementation, carry out detecting including the information to multi-source and data, it is related, combine and estimation.
Balloon gesture stability function：By implementing to control to multiple execution equipment, realize the control of balloon attitude and keep.
It is provided simultaneously with various automatic control functions such as pressure, temperature, power supply.
Working condition function for monitoring：Real-time Collection obtains the work state information of balloon system, control command execution information
Deng.The safe condition of balloon is grasped, safety failure is occurred and is alerted immediately.
System parameter setting function：For running some closely related significant datas and parameter with balloon system, there is provided
Arrange, update, preserve function.
Data record recurs function：Control, parameter, data, state and fault message to current system etc. are carried out in real time
Record, and live reproduction can be carried out by recurring software.
There are two pieces of ball control computer installations being mutually redundant on ball in control extensions, it is real-time by two-way communication between them
Interaction data.Major function is to obtain all parameter informations, state and fault message and from ground system on balloon
Control instruction, control after analysis above- mentioned information and instruction performs controller, the final all kinds of controls for implementing equipment on ball.Simultaneously
The systematic status information of balloon institute is transferred to ground system by digital transmission communication equipment.
As shown in figure 5, ball control computer installation is mainly by dual redundant CPU module, bus arbitration and interactive communication module, logical
Letter expansion module, input/output interface drive module, port decoding module, control performing module, state/fault collection module etc.
Composition.The invention provides a kind of ball control computer installation of the hot redundancy master slave mode of dual processor, as captive balloon attitude
The core of control, two sets of CPU backup each other, during power-up one CPU as primary processor, another CPU as from processor,
Two-shipper timing during normal work mutually passes data and realizes data syn-chronization.When there is operation troubles in a processor, bus arbitration mould
Block is seamlessly transitted, by task immigration to another processor.
It is to receive the control instruction from ball control computer to perform control device major function, realizes balloon blower fan, valve
The control of the facility switching amount such as door, heater strip；Each working condition and fault monitoring for performing equipment；The temperature inspection of executing agency
Survey；The intellectual monitoring of parameters of electric power and control.
There is two-way communication link to be communicated with two pieces of ball control computers respectively as shown in fig. 6, performing controller, while two logical
Letter link is safeguarded and is controlled by two pieces of independent FPGA respectively.Two pieces of FPGA parse the instruction for receiving respectively, can be respectively
Make corresponding control.Temperature signal is two-wire system RS485 signal, is realized to executing agency using UART mechanism inside FPGA
The acquisition of temperature signal.Electric current, the analog quantity of voltage sensor output complete collection using A/D, per road analog quantity all by 2
A/D is backing up collection, and carries out data packing by 2 FPGA respectively.Executing agency's feedback signal is divided into 0/5VDC signals, with
Other Transistor-Transistor Logic levels BIT signals are together simultaneously by 2 FPGA backup collections, and carry out data packing passback.Normal work 1
FPGA, when arbitration modules judge currently to connect in check FPGA operation irregularities according to state feedback is then closed as main control device
Close this FPGA to export, switch to another piece of FPGA adapter controlled output.
In sum, by means of the technical scheme of the embodiment of the present invention, for captive balloon system core link, construct
Multistage redundancy attitude control system, enhances System Fault Tolerance control ability；Set based on equipment different stage and difference in functionality demand
Meter realizes corresponding control decision and method, reduces system design complexity, effectively improves the robustness and anti-interference of system,
Guarantee the safety and reliability of captive balloon system operation；The intelligentized control method of captive balloon attitude and the human-machine interface of close friend
Mouthful, a usability difficult problem for the large-scale captive balloon of effectively solving；Generalization, modularized design can be inherited in similar control system regions
Using and be widely popularized.
Although being example purpose, the preferred embodiments of the present invention are had been disclosed for, those skilled in the art will recognize
Various improvement, increase and replacement be also it is possible, therefore, the scope of the present invention should be not limited to above-described embodiment.
Presently preferred embodiments of the present invention is the foregoing is only, not to limit the present invention, all essences in the present invention
Any modification, equivalent and improvement made within god and principle etc., should be included within the scope of the present invention.
Claims (10)
1. a kind of multistage redundancy captive balloon attitude control system, which includes ground control subsystem and is controlled by the ground controlling
Subsystem on multiple balls of subsystem；On each ball subsystem include control extensions on ball, perform controller, multiple actuators,
Multiple sensors, multiple signal pickers；On the ball, control extensions receive the control command of the ground control subsystem, and according to
The control command gathers the sampled signal of the sensor and signal picker and returns the ground control subsystem, always according to the control
The corresponding actuator operation of system order at least one actuator driven of control；It is characterized in that：
The multistage redundancy captive balloon attitude control system is logically divided into three logical layers from realization：System layer, link layer
And process layer；
The charge computer and indication control board of the ground control subsystem are carried out dual redundant by the system layer, and will also be controlled on the ball
The ball control computer of extension set carries out dual redundant；The Redundant Control of the system layer is realized controlling authority processing method using system；
Communication equipment between the charge computer and each ball control computer is carried out dual redundant by the link layer：Dual redundant is received and dispatched
Communication equipment between the ball control computer and each actuator is also carried out dual redundant by letter machine, binary channels earth-space communication：Bilateral
Road performs communication, binary channels communication between plates；The Redundant Control of the link layer is realized adopting method for interchanging data；
The processor of each ball control computer is carried out dual redundant by the process layer：Each is also performed by dual redundant computer card
The processor of device carries out dual redundant：Dual redundant FPGA performs controller, multi-path redundancy sensor, multi-path redundancy collector；At this
The Redundant Control of reason layer is realized using processor arbitration decisions method；
Wherein, the design of each logical layer possesses relatively independent function and divides and task division, while being directed to each logical layer
Relatively independent control is provided, is on the one hand reduced the degree of coupling of equipment room on Different Logic layer, is on the other hand strengthened same logic
The concertedness between redundance unit on layer.
2. multistage redundancy captive balloon attitude control system as claimed in claim 1, it is characterised in that：The system of the system layer
Whole control system is divided into several processing units by control authority processing method, and each processing unit has independent control
Authority processed, in unit, redundance unit realizes collaborative work to exchange control mode.
3. multistage redundancy captive balloon attitude control system as claimed in claim 2, it is characterised in that：The control authority includes
The charge control of the charge computer, the ball control control of the ball control computer, the execution control of the execution controller.
4. multistage redundancy captive balloon attitude control system as claimed in claim 3, it is characterised in that：The ball control control
Decision-making treatment method is：When ball control control is set to automatically configure control, the ball control computer is in each program performing
Each cycle, obtain and accuse instruction, implement control task, all information of more new system are simultaneously exported in real time at least one execution
Controller；The working condition that controller monitors other side in real time is performed, exchange system information completes data syn-chronization；Perform controller
Once data message cannot be obtained, while being not detected by the ball control computer normal condition by " heartbeat " line, then upgrade to
Main equipment, reset faulty equipment, seamless pipe ball control control continued the tasks carrying in a upper cycle, it is ensured that control system is suitable
Profit work.
5. multistage redundancy captive balloon attitude control system as claimed in claim 1, it is characterised in that：The data of the link layer
The exchange data of the link layer is divided into two class of control data and status data by exchange method, and the control data has and unidirectionally has
Sequence feature, the status data have broadcast interaction feature, it is ensured that system control node to state data acquisition it is real-time effectively and
The accurate safety that control data is performed；The system control node is control extensions and execution controller on the ball.
6. multistage redundancy captive balloon attitude control system as claimed in claim 5, it is characterised in that：The data of the link layer
Exchange method：Control data ensures to initiate with the charge computer of the limit that is possessed of control power and perform, control extensions on ball
Responsible forwarding；When normal communication link is normal, control data is sent from master control link, once normal communication link failure, control
Data processed are then switched to the transmission of emergency communication link；Equally, on ball, control node is also to perform corresponding control by control extensions on ball
System order, and perform controller and be intended only as the use of control data forward node；For system state data, two each other
The charge computer real-time exchange system state data of redundancy, it is ensured that status data it is complete consistent, while by the side for broadcasting
Formula is interacted with other nodes, and the arbitrary node of multistage redundancy captive balloon attitude control system can obtain complete with inquiry mode
System status information.
7. multistage redundancy captive balloon attitude control system as claimed in claim 1, it is characterised in that：The arbitration modules are real-time
All processors are monitored, evaluation processor running status, process task is switched to into state normal processor, reset shape
State exception handler, it is impossible to isolate defective device when eliminating failure, and report result.
8. multistage redundancy captive balloon attitude control system as claimed in claim 7, it is characterised in that：The arbitration modules are real-time
Synchronous communication between control process device, realizes the data sharing between two processor in the way of shared memory space.
9. multistage redundancy captive balloon attitude control system as claimed in claim 8, it is characterised in that：Inside the arbitration modules
The Program Synchronization of two processor is ensured using mutex amount mechanism, failure is judged using the step-by-step counting mode for intercepting processor
Whether, system control tasks are preferentially run on high priority processor, once which breaks down, arbitration modules are by system bus
Low priority processor is delivered to, adapter processor utilizes register temporal data and shared drive data, restoring scene environment
And routine data, it is ensured that continuing executing with task graceful migration to adapter processor.
10. a kind of cooperative control method of multistage redundancy captive balloon attitude control system, it is characterised in that：By multistage redundancy system
Balloon attitude control system is stayed to be logically divided into three logical layers from realization：System layer, link layer and process layer；Each logic
The design of layer possesses relatively independent function and divides and task division, while providing relatively independent control for each logical layer
On the one hand system, reduces the degree of coupling of equipment room on Different Logic layer, on the other hand strengthen redundance unit on same logical layer it
Between concertedness, the multistage redundancy captive balloon attitude control system is as in one of claimed in any of claims 1 to 9 multistage
Redundancy captive balloon attitude control system.
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