CN108413984A - A kind of triplex redundance the airbone gyro signal redundancy management method - Google Patents
A kind of triplex redundance the airbone gyro signal redundancy management method Download PDFInfo
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- CN108413984A CN108413984A CN201810106655.5A CN201810106655A CN108413984A CN 108413984 A CN108413984 A CN 108413984A CN 201810106655 A CN201810106655 A CN 201810106655A CN 108413984 A CN108413984 A CN 108413984A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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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
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
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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
- G05B23/0262—Confirmation of fault detection, e.g. extra checks to confirm that a failure has indeed occurred
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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
- G05B23/0275—Fault isolation and identification, e.g. classify fault; estimate cause or root of failure
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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
- G05B23/0275—Fault isolation and identification, e.g. classify fault; estimate cause or root of failure
- G05B23/0281—Quantitative, e.g. mathematical distance; Clustering; Neural networks; Statistical analysis
-
- 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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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
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- Probability & Statistics with Applications (AREA)
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- Manufacturing & Machinery (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Safety Devices In Control Systems (AREA)
Abstract
The present invention relates to a kind of triplex redundance the airbone gyro signal redundancy management methods comprising：1) triplex redundance the airbone gyro signal is obtained；2) intermediate value of gyro signal in magnitude order by triplex redundance the airbone gyro signal, is found out；3) difference of intermediate value and two non-intermediate value gyro signals is calculated；If difference is respectively less than fault threshold, triplex redundance the airbone gyro signal is effective；If a difference is less than fault threshold and another difference exceeds fault threshold, the non-intermediate value gyro signal beyond fault threshold is fault-signal；If difference exceed fault threshold be unusual failure, gyro signal using from monitoring signal as normal signal；4) put to the vote to the gyro signal of the above results, the intermediate value of triplex redundance gyro signal is exported if triplex redundance the airbone gyro signal is effective, the mean value of two gyro signals is exported if when two remaining signals are effective, if exporting this channel signal value when mono signal is effective.The redundancy management method of the present invention significantly improves the stability and judgement of system.
Description
Technical field
The invention belongs to technical field of flight control more particularly to a kind of triplex redundance the airbone gyro signal redundancy management sides
Method.
Background technology
Gyro signal be it is a kind of be used for sensing and maintaining the signal in aircraft direction, gyro signal is considered as and aircraft flight
A kind of vital signal of safety, is a kind of vitals of decision systems reliability.Gyro signal generally has from prison
Function is controlled, and in order to ensure that the accuracy of gyro signal, the remaining basic grade of gyro signal use triplex redundance.
For fault tolerance capability, has from the triplex redundance gyro signal of monitoring capacity and Dual Failures work may be implemented.
Aircraft Management System redundancy management with compare monitoring based on, from monitoring supplemented by, remaining signal occur unusual failure in the case of
Whether have from monitoring function with reference to the signal, carries out auxiliary judgment.
And redundancy management is the key problem in redundant system design, the basic function of redundancy management is sense aircraft pipe
Failure in reason system and isolated fault component.It is realized by monitoring to redundance signal and voting.In information
On the basis of correctly, it can be such that any failed subsystem or component is isolated from Vehicle Management System.All remainings are logical
Road has been all made of identical working procedure, identical input, identical processing and calculating, output having the same.
Flight control system redundancy management is on the basis of hardware reasonable disposition, using software or hardware approach to system each unit
Cross monitoring and from monitoring, realizes fault detect to asystem function unit, Fault Isolation, and to the bug list final accounts in system
Method and functional unit are reconstructed, to reach fault-tolerance design requirement.
For triplex redundance gyro signal in the prior art, need a kind of redundancy management method to reach above-mentioned purpose.
Invention content
The object of the present invention is to provide a kind of triplex redundance the airbone gyro signal redundancy management methods, for solving above-mentioned ask
Topic.
In order to achieve the above objectives, the technical solution adopted by the present invention is：A kind of triplex redundance the airbone gyro signal redundancy management
Method comprising：
1) triplex redundance the airbone gyro signal is obtained；
2) intermediate value of gyro signal in magnitude order by triplex redundance the airbone gyro signal, is found out；
3) difference of the intermediate value and two non-intermediate value gyro signals is calculated；
If the difference is respectively less than fault threshold, triplex redundance the airbone gyro signal is effective；
If a difference is less than fault threshold and another difference exceeds fault threshold, exceed the non-intermediate value of fault threshold
Gyro signal is fault-signal；
If the difference exceed fault threshold be unusual failure, gyro signal using from monitoring signal as normal signal；
4) put to the vote to the gyro signal of the above results, triplex redundance is exported if triplex redundance the airbone gyro signal is effective
The intermediate value of gyro signal, when two remaining signals are effective if export the mean value of two gyro signals, if being exported when mono signal is effective
This channel signal value.
In the present invention program, in step 3), the fault threshold is equipped with time threshold, if judging, the gyro signal is
It is no during fault-signal, to be then permanent fault beyond time threshold, remove this signal from monitoring voting algorithm.
In the present invention program, in step 3), the gyro signal is from monitoring signal producing method：Angular speed senses
Device is monitored using motor rotary speed, and when unusual failure occurs in gyro signal, gyro signal is derived from from monitored results, i.e., from monitoring knot
The normal signal determining of fruit is normal, and failure is judged to from abnormal signal is monitored.
In the present invention program, in step 4), if without effective gyro signal, gyro signal takes failure safe value.
In the present invention program, aircraft is in the case where solving tailspin state, in the management method of rate gyroscope redundance signal
Voting does not monitor.
The triplex redundance gyro signal redundancy management method of the present invention to compare based on monitoring, supplemented by the prosecution, believe in remaining
Number occur whether to have from monitoring function with reference to the signal in the case of unusual failure, carries out auxiliary judgment, significantly improve system
Stability and judgement.
Description of the drawings
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the present invention
Example, and be used to explain the principle of the present invention together with specification.
Fig. 1 is Vehicle Management System voting monitoring schematic diagram.
Specific implementation mode
To keep the purpose, technical scheme and advantage that the present invention is implemented clearer, below in conjunction in the embodiment of the present invention
Attached drawing, technical solution in the embodiment of the present invention is further described in more detail.
Such as Fig. 1, the present invention be realize it is as described in the background art triplex redundance the airbone gyro signal is carried out it is effective remaining
Degree management, proposes a kind of redundancy management method of triplex redundance the airbone gyro signal.
The redundancy management method of the triplex redundance the airbone gyro signal of the present invention is as follows：
1) gyro signal of triplex redundance is obtained first；
2) triplex redundance gyro signal is ranked up according to size, finds out intermediate value；
3) difference between med signal and non-med signal is calculated；Wherein, if the difference of intermediate value and two non-med signals
Less than fault threshold, then three gyro signals are all effective；If the difference of one of them non-med signal and intermediate value exceeds fault threshold,
Then judge this signal fault；If the difference of two non-med signals and med signal is all higher than fault threshold, 1 is formed：1：1 is unusual
Failure has from monitoring function gyro signal, to monitor the signal praised certainly as normal signal in this case.
After being out of order by above operation detection, if judging, it (is judged to permanently for a permanent fault more than time threshold
Failure), this signal should be removed from monitoring voting algorithm.
What it is for above-mentioned gyro signal (analog signal) is from monitoring function mode：Angular-rate sensor is turned using motor
Speed monitoring.When unusual failure occurs in above-mentioned analog signal, from monitored results, i.e., just from monitored results flight management system is believed
Normal signal determining is normal, and failure is judged to from abnormal signal is monitored.
In monitor to the gyro signal of input or from after monitoring signal provides monitored results, useful signal enters voting machine
The voting of input signal is carried out, the input signal of analog quantity uses following voting algorithm：
A, when triplex redundance signal is effective, the intermediate value of three road gyro signals is exported；
B, when two remaining signals are effective, the mean value of two road gyro signals is exported；
C, when mono signal is effective, this channel value is exported；
When d, without useful signal, failure safe value is set.
Finally in the case where solving tailspin state, the management strategy to rate gyroscope redundance signal is that only voting does not monitor.
The triplex redundance gyro signal redundancy management method of the present invention to compare based on monitoring, supplemented by the prosecution, believe in remaining
Number occur whether to have from monitoring function with reference to the signal in the case of unusual failure, carries out auxiliary judgment, significantly improve system
Stability and judgement.
The above, only optimal specific implementation mode of the invention, but scope of protection of the present invention is not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, the change or replacement that can be readily occurred in,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of the claim
Subject to enclosing.
Claims (5)
1. a kind of triplex redundance the airbone gyro signal redundancy management method, which is characterized in that include the following steps：
1) triplex redundance the airbone gyro signal is obtained；
2) intermediate value of gyro signal in magnitude order by triplex redundance the airbone gyro signal, is found out；
3) difference of the intermediate value and two non-intermediate value gyro signals is calculated；
If the difference is respectively less than fault threshold, triplex redundance the airbone gyro signal is effective；
If a difference is less than fault threshold and another difference exceeds fault threshold, exceed the non-intermediate value gyro of fault threshold
Signal is fault-signal；
If the difference exceed fault threshold be unusual failure, gyro signal using from monitoring signal as normal signal；
4) put to the vote to the gyro signal of the above results, triplex redundance gyro is exported if triplex redundance the airbone gyro signal is effective
The intermediate value of signal, when two remaining signals are effective if export the mean value of two gyro signals, if it is logical to export this when mono signal is effective
Road signal value.
2. triplex redundance the airbone gyro signal redundancy management method according to claim 1, which is characterized in that in step 3)
In, the fault threshold is equipped with time threshold, if during judging whether the gyro signal is fault-signal, exceeds time gate
Limit is then permanent fault, removes this signal from monitoring voting algorithm.
3. triplex redundance the airbone gyro signal redundancy management method according to claim 1, which is characterized in that in step 3),
The gyro signal is from monitoring signal producing method：Angular-rate sensor is monitored using motor rotary speed, when gyro signal goes out
When existing unusual failure, gyro signal is derived from from monitored results, i.e., is normal from the normal signal determining of monitored results, monitors certainly not
Normal signal is judged to failure.
4. triplex redundance the airbone gyro signal redundancy management method according to claim 1, which is characterized in that in step 4),
If without effective gyro signal, gyro signal takes failure safe value.
5. triplex redundance the airbone gyro signal redundancy management method according to claim 1, which is characterized in that aircraft is in solution tail
Under rotation state, to only voting does not monitor in the management method of rate gyroscope redundance signal.
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| CN201810106655.5A CN108413984A (en) | 2018-02-02 | 2018-02-02 | A kind of triplex redundance the airbone gyro signal redundancy management method |
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| CN201810106655.5A CN108413984A (en) | 2018-02-02 | 2018-02-02 | A kind of triplex redundance the airbone gyro signal redundancy management method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109557808A (en) * | 2018-10-30 | 2019-04-02 | 成都飞机工业（集团）有限责任公司 | A kind of mutual monitoring method of redundant computer interchannel |
| CN110824988A (en) * | 2019-11-06 | 2020-02-21 | 上海航天控制技术研究所 | Attitude control output signal voting method based on 1553B bus redundancy |
| CN112596372A (en) * | 2020-12-30 | 2021-04-02 | 中国航发控制系统研究所 | High-adaptability redundancy signal voting method |
| CN113204732A (en) * | 2021-05-14 | 2021-08-03 | 四川腾盾科技有限公司 | Method and system for voting dual-redundancy data of sensor of unmanned aerial vehicle, computer program and storage medium |
| CN115390490A (en) * | 2022-08-23 | 2022-11-25 | 南京芯传汇电子科技有限公司 | Remote control terminal redundancy management method, device, equipment and storage medium |
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| CN115390490A (en) * | 2022-08-23 | 2022-11-25 | 南京芯传汇电子科技有限公司 | Remote control terminal redundancy management method, device, equipment and storage medium |
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