CN108776486A - A kind of large size high and medium, which is examined, beats integrated system for flight control computer redundancy structure method - Google Patents
A kind of large size high and medium, which is examined, beats integrated system for flight control computer redundancy structure method Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
A kind of large-scale high and medium of the present invention, which is examined, beats integrated system for flight control computer redundancy structure method, including three flight sensor, remaining flight control computer and executing agency parts, the flight control system redundancy architecting method of the present invention, corresponding Redundancy Design has been carried out to each part.Flight control computer part uses the triplex redundance hardware structure based on FlexRay and Can buses.Executing agency part includes aileron steering engine, V tail actuators, front-wheel steer steering engine, air door steering engine, throttle steering engine and propeller speed governing steering engine.The present invention carries out corresponding Redundancy Design in each component part of flight control system, wherein triplex redundance flight control computer, distributed structure/architecture design based on FlexRay and Can buses, so that system eliminates Byzantium's general's failure, improve reliability, at the same have the scalability it is strong, simple in structure flexibly, the advantages such as maintenance cost is low.Make system while highly reliable and inexpensive, the high performance-price ratio requirement that meets unmanned plane.
Description
Technical field
The present invention relates to a kind of large-scale high and mediums to examine dozen integrated system for flight control computer redundancy structure method more particularly to one
The distributed flight control system redundancy structure method of fusion phase Sihe dissimilarity redundancy thought of the kind based on FlexRay and Can buses,
Dozen integrated unmanned plane is examined to flight control system under conditions of considering cost performance factor, meeting the large-scale long endurance of high and medium
The requirement of reliability, real-time, maintainability, versatility, autgmentability and cost performance, the program have used a variety of Redundancy Design hands
Section, maximization have used highly reliable COTS products, while making full use of FlexRay and Can bus advantages to improve system performance
Cost is reduced, the unmanned plane market competitiveness is greatly improved, belongs to flight control system hardware structure design field.
Background technology
As unmanned plane constantly expands using increasingly extensive, application field, function constantly enhances, development and production and use dimension
Cost is protected to be continuously improved, it is also higher and higher to the reliability requirement of flight control system.The quality of flight control system reliability design
The flight safety of aircraft is directly affected, therefore the quality and assembly technology quality of simple dependence raising component and component are
It is extremely difficult to system requirements, redundancy design technique can effectively improve the reliability and fault-tolerant ability of flight control system, thus must
It must start with from the design of the architecture of flight control system, the fault-tolerance of system and remaining energy are fundamentally improved using redundancy
Power realizes softly fail to achieve the purpose that eliminate influence of the failure to system worked well.
Redundancy fault-tolerant flight control system be used successfully in airline carriers of passengers, fighter plane etc. have it is man-machine in, by flight control system
Failure rate be reduced to 10-7-10-10/ the pilot time.However, there is man-machine redundancy fault-tolerant flight control system that cannot meet unmanned body
The requirements such as product, power consumption, price can not directly apply in unmanned plane.With technologies such as microelectronics, electronics, computer, buses
Development, it is electronic equipment integration degree higher, with better function, and volume smaller, weight are lighter, power smaller, price more just
Preferably.Industrial electronic technology is widely used, and development speed is typically much higher than the development of avionics, but its reliability also compared with
It is low.How reasonably advanced industrial products to be applied in avionic device, the progress of industrial technology is made full use of to improve
Properties of product, reduce cost while meeting high reliability, are that system for flight control computer designer needs to solve always
Problem.
Invention content
It is examined the purpose of the present invention is to provide a kind of large-scale high and medium and beats integrated system for flight control computer redundancy structure method,
Dozen reliability and appearance of integrated system for flight control computer is examined in order under the conditions of low cost, effectively improve the long endurance of large-scale high and medium
Wrong ability, it is winged that the present invention provides a kind of distribution of the fusion phase Sihe dissimilarity redundancy thought based on FlexRay and Can buses
System redundancy framework method is controlled, TMR systems is eliminated and often causes Byzantium's general's failure, has the scalability strong, structure letter
The advantages such as list is flexible, maintenance cost is low, the application of Redundancy Fault-tolerant Technology and industrial matured product, make the flight control system while meeting
Unmanned plane is highly reliable and inexpensive, high performance-price ratio requirement.
The content of present invention is to provide a kind of large-scale high and medium to examine integrated system for flight control computer redundancy structure method of beating, described
Flight control system, including three flight sensor, remaining flight control computer and executing agency parts, flight control system of the invention be superfluous
Remaining architecting method is to have carried out corresponding Redundancy Design to each part.Flight control computer part use based on FlexRay and
The triplex redundance hardware structure of Can buses.Executing agency part includes aileron steering engine, V tail actuators, front-wheel steer steering engine, air door rudder
Machine, throttle steering engine and propeller speed governing steering engine.
Preferably, wherein Redundancy Design to flight sensor system, non-by installing using multisystem multifrequency point scheme
Similar navigation equipment realizes sensor signal redundancy, specifically includes satellite navigation, inertial navigation, combination by data fusion
Navigation, air data system, radar altimeter, weathercock sensor, contact to earth switch and engine/fuel oil/distribution/undercarriage prison
Control.Wherein in terms of inertial navigation, using high-precision optical fiber gyro, unmanned plane is set to realize that high-precision throws terminal guidance fried
Bullet.Wherein, the same sensor can provide different navigator fixs and determine appearance information, there is redundancy backup relationship between each other；
There are air data system, satellite (GPS, BD2, GLONASS) navigation, radar altimeter in elevation information source；Position information source is defended
Star (GPS, BD2, GLONASS) navigation, inertial navigation；Posture information source has high-precision optical fiber gyro, satellite navigation system to provide
Mobile difference posture (by the mobile difference of double antenna, rolling is provided and yaws the posture information of both direction).Wherein,
" elevation information source, position information source, posture information source " refers to the machine for being capable of providing elevation information, location information and posture information
Upper sensor device.
Preferably, wherein Redundancy Design to executing agency part, is designed by pneumatic rudder face (aileron, V tails) fragment,
Servo-drive system electric redundance realizes the redundancy design of executing agency.The fragment design of pneumatic rudder face, is by unmanned plane both sides pair
Each point of two panels of rudder face of the wing, V tails, 4 rudder faces close to body side claim inside rudder face, 4 rudder faces far from body side to claim
Outside rudder face controls outside rudder face and takes back aircraft safety if inside steering engine failure causes rudder face stuck.Servo-drive system
Electric redundance refers to two sets of control circuits of steering engine controller interior design, when normal work acquiescence wherein it is a set of effectively, occur therefore
After barrier, switch to another set of.
Preferably, wherein Redundancy Design to flight control computer part, is triplication redundancy pattern, particular by configuration three
A same winged control board, operation phase short-range order (only bus driver is different) form similarity redundancy.Bottom provides hardware synchronization
(nanosecond) carries out communication between plates (including interface board) by FlexRay buses.
Preferably, flight control computer triplication redundancy pattern therein is that three fly control plate and acquire same sensing data, respectively
Rudder face instruction is obtained from control law is resolved, driving steering engine realizes control closed loop.Single machine can be isolated by median voting in rudder face instruction
Failure, while each winged control board monitors other board states, according to control instruction cumulative departure, positioning failure board enables double
Mould redundancy of effort.
Preferably, two kinds of voting moulds are divided into according to the difference of key aerodynamic rudder face control instruction voting point in flight control system
Formula constitutes redundancy.A) steering engine end value decides by vote pattern, and rudder face instruction is transmitted to steering engine by CAN bus, and intermediate value table is carried out at steering engine end
Certainly rear-guard is taken offence dynamic rudder face；B) interface board decides by vote pattern, and interface board obtains rudder face by FlexRay and instructs, and carries out median voting
Steering engine is sent to by RS422 again, when steering engine CAN bus failure/lose signal, uses the data command of RS422 instead.Two kinds of votings
The design of pattern is mutually redundant, that is, after there is primary fault, and the control instruction of rudder face still has triplex level redundancy, reliably
Property greatly improves.
Preferably, flight control computer duplication redundancy pattern therein is：After judging single machine failure, steering engine end/interface board root
According to three machine fault conditions of each winged control instruction, according to control plate number is flown successively, airliner is worked as in determination, according to the rudder face instruction when airliner
Steering engine is driven, is no longer put to the vote to rudder face instruction.According to information such as heartbeat, board self-tests, secondary failure board is determined, enable
Single mode.
Preferably, flight control computer single mode therein is, if when airliner breaks down again under duplication redundancy pattern, rudder
Power on duty is switched on normal single machine by face instruction/interface board, complete independently flight control.
Compared with prior art, it is superfluous to examine dozen integrated system for flight control computer for the large-scale long endurance of high and medium provided by the present invention
Remaining architectural schemes have merged a variety of Redundancy Design thoughts, and the corresponding redundancy all carried out in each component part of flight control system is set
Meter, triplex redundance flight control computer especially therein, the distributed structure/architecture design based on FlexRay and Can buses so that system
Eliminate Byzantium's general's failure, improve reliability, at the same have the scalability it is strong, simple in structure flexibly, maintenance cost it is low etc.
Advantage.The application of fault-toleranr technique and industrial matured product makes system while highly reliable and inexpensive, the high performance-price ratio that meets unmanned plane
It is required that.
Description of the drawings
Fig. 1 is that a kind of large-scale long endurance of high and medium provided by the invention examines dozen integrated system for flight control computer redundancy structure side
Flight control system composition frame chart in case.
Fig. 2 is that a kind of large-scale long endurance of high and medium provided by the invention examines dozen integrated system for flight control computer redundancy structure side
Remaining flight control computer schematic diagram in case.
Fig. 3 is that a kind of large-scale long endurance of high and medium provided by the invention examines dozen integrated system for flight control computer redundancy structure side
Remaining flight control computer working condition transition graph in case.
Fig. 4 is that a kind of large-scale long endurance of high and medium provided by the invention examines dozen integrated system for flight control computer redundancy structure side
Triplex redundance flight control computer in case and external connection schematic diagram.
A kind of Fig. 5 large-scale long endurances of high and medium provided by the invention, which are examined, beats integrated system for flight control computer redundancy structure scheme
In executing agency in pneumatic rudder face Redundancy Design scheme schematic diagram.
Specific implementation mode
The invention will now be described in detail with reference to the accompanying drawings.
Fig. 1 is that a kind of large-scale long endurance of high and medium provided by the invention examines dozen integrated system for flight control computer redundancy structure side
Flight control system composition frame chart in case, entire flight control system include triplex redundance flight control computer, sensor, executing agency three
Point.Key sensor outfit is a set of, including inertial navigation system, satellite navigation, air data computer, the weathercock angle of attack/sideslip
Angle transducer；General sensor includes radar altimeter, contact to earth switch；Other monitoring contents include engine monitoring, Fuel System
System health monitoring, distribution network monitoring, undercarriage monitoring etc..Executing agency include aileron, V tails, front-wheel steer, air door, throttle,
Propeller speed governing steering engine and steering engine controller.Wherein, inertial navigation system and satellite navigation system, air data system, meet
Angle yaw angle sensing data blends, and after combined navigation algorithm resolves, forms integrated navigation system, exports integrated navigation number
According to, and flight control computer connecting communication, radar altimeter contacts to earth switch and other monitoring devices also connect with flight control computer respectively
News are connected, wherein elevation information source is air data system, satellite (GPS, BD2, GLONASS) navigation, radar altimeter；Position
Information source is satellite (GPS, BD2, GLONASS) navigation, inertial navigation；Posture information source is high-precision optical fiber gyro, satellite is led
The mobile difference posture that boat system provides.
Fig. 2 is that a kind of large-scale high and medium provided by the invention is examined in dozen integrated system for flight control computer redundancy structure method
Remaining flight control computer schematic diagram, flight-control computer hardware composition include 1 VPX cabinet, 2 power panels, 3 winged control plates
(flight control computer), 1 interface board, 1 communication bottom plate and 1 communication backplane, 3 aviation plugs (connector).
Power panel is responsible for completing external primary power source input conversion and forms 12V secondary power supplies, and completes the electricity such as pressure-resistant surge
Source characteristic requirements are powered by bottom plate to winged control plate and interface board.
Fly three pieces of plate of control, hardware is identical, and software identical (removing bus driver) forms similarity redundancy.Bottom provides hardware synchronization
(nanosecond) provides FlexRay buses and carries out communication between plates (including interface board).Fly control plate, is received and passed by onboard serial ports, DI
Sensor signal, carries out Flight Control Law resolving, and calculation result, that is, rudder face instruction is exported by FlexRay and turned again to interface board
RS422/DA/PWM gives each steering engine.Meanwhile the key aerodynamic rudder face instruction of every piece of board is directly output to by same CAN bus
Steering engine controller.
Interface board is responsible for acquiring the information that three tunnels fly control board simultaneously by FlexRay buses, each control instruction intermediate value
Theorem is decided by vote, and is converted into the signals such as RS422/DA/PWM/IO.The secondary reconstruct after primary fault can be carried out simultaneously.
Bottom plate provides drop-down processing on signal to each plate, provides FlexRay buses；Backboard provides plate to the line of connector
Cable is transferred.
Fig. 4 is that a kind of large-scale high and medium provided by the invention examines the three of dozen integrated system for flight control computer redundancy structure method
Remaining flight control computer and external connection schematic diagram.Three fly control plate and realize synchronization by hardware bottom layer, real with FlexRay buses
Now fly control plate intercard communication, sensor information is acquired by modes such as serial ports, IO, rudder face instruction is resolved according to control law, is passed through
CAN bus and serial port drive steering engine.To realize that system margin, three flight control computers run same program (in addition to bus is matched
It is equipped with difference), same sensing data is acquired, while providing control surface deflection instruction, steering engine controller does intermediate value processing；It is crucial
Sensor such as integrated navigation flies control plate transmission data to three simultaneously；Steering engine controller uses CAN interface, acquires simultaneously
3 instructions for flying control plate, are handled through intermediate value, drive steering engine.In addition to key sensor, other need the state monitored, other oil
The interface of the steering engines such as door, front-wheel is made on interface board.Wherein, key sensor includes：Inertial navigation, satellite navigation, big destiny
According to system, angle of attack sideslip angle transducer.
Pneumatic servo is using configuration single channel control unit+steering engine；Air door, throttle, paddle control steering engine are using integrated steering engine.Pneumatically
Rudder face instructs, and three fly control plate and realize synchronism output by CAN bus, while interface board acquires three according to Flexray and flies control
Plate rudder face instructs, and is converted to RS422 instruction inputs after median voting, each steering engine RS422 all the way.
The rudder face for acquiring the winged control plate in three tunnels simultaneously by CAN bus per road steering engine controller instructs, and is decided by vote with mean value theorem,
Drive steering engine；Meanwhile to ensure safety, CAN bus fault condition is using the rudder face instruction of RS422 serial ports (after interface board voting
Output)；Other steering engines such as air door, throttle, paddle control, do on interface board and decide by vote, and steering engine is driven by PWM or DA signals.
Fig. 3 is that a kind of large-scale long endurance of high and medium provided by the invention examines dozen integrated system for flight control computer redundancy structure side
Remaining flight control computer working condition transition graph in case.Under normal circumstances, flight control computer is operated in triplication redundancy pattern, when
When single machine failure occurs, migrates to duplication redundancy pattern, when secondary failure occurs, migrate to single mode.
Triplication redundancy pattern：Three fly control plate and acquire same sensing data, respectively resolve control law and obtain rudder face instruction,
Steering engine is driven to realize control closed loop.Single machine failure can be isolated by median voting in rudder face instruction, while each winged control board monitors it
His board state, according to control instruction cumulative departure, positioning failure board enables duplication redundancy work.It is different according to voting point
It is divided into：A) steering engine end value decides by vote pattern, and rudder face instruction is all transmitted to steering engine by CAN bus, is driven in steering engine end median voting
Pneumatic rudder face；B) interface board decides by vote pattern, and interface board obtains rudder face by FlexRay and instructs, and carries out median voting and passes through again
RS422 is sent to steering engine, when steering engine CAN bus failure/lose signal, uses the data command of RS422 instead.
Duplication redundancy pattern, after judging single machine failure, steering engine end/interface board is according to each winged three machine failure feelings for controlling instruction
Condition is numbered successively according to winged control plate, and airliner is worked as in determination, according to the rudder face order-driven steering engine when airliner, is no longer instructed to rudder face
Put to the vote.According to information such as heartbeat, board self-tests, secondary failure board is determined, enable single mode.
Single mode, if when airliner breaks down again under duplication redundancy pattern, rudder face instruction/interface board cuts power on duty
It changes on normal single machine, complete independently flight control.
Fig. 5 is that a kind of large-scale long endurance of high and medium provided by the invention examines dozen integrated system for flight control computer redundancy structure side
The Redundancy Design scheme schematic diagram of pneumatic rudder face in executing agency in case.As shown, by unmanned plane both sides ailerons, V tails
Each point of two panels of rudder face, 4 rudder faces close to body side, including inside port aileron, inside starboard aileron, the left V tails in inside, inside are right
V tails；4 rudder faces far from body side, including outside port aileron, outside starboard aileron, left outer V tails, the right V tails in outside, if
Inside steering engine failure causes rudder face stuck, then controls outside rudder face and take back aircraft safety.The electric redundance of servo-drive system refers to
The identical circuit A and B of two sets of steering engine controller interior design, the signal of the roads acquiescence A output is effective when normal work, breaks down
Afterwards, the roads B are switched to, if the roads B are broken down again, the event of system report.
The present invention is described in detail above in association with attached drawing, but those of ordinary skill in the art should be known that specification only
It is for interpreting the claims.But protection scope of the present invention is not limited to specification.It is any to be familiar with the art
Technical staff is in the technical scope of present disclosure, the variation or replacement that can be readily occurred in, and should all cover the present invention's
Within protection domain.Therefore, the scope of protection of the invention shall be subject to the scope of protection specified in the patent claim.
Claims (8)
1. a kind of large size high and medium, which is examined, beats integrated system for flight control computer redundancy structure method, the flight control system, including flies
Three line sensor, remaining flight control computer and executing agency parts, it is characterised in that：The flight control system redundancy framework side
Method is to have carried out corresponding Redundancy Design to each part, and flight control computer part, which uses, is based on FlexRay and Can buses
Triplex redundance hardware structure, executing agency part include aileron steering engine, V tail actuators, front-wheel steer steering engine, air door steering engine, throttle
Steering engine and propeller speed governing steering engine；
Wherein to the Redundancy Design of flight sensor system, using multisystem multifrequency point scheme, by installing non-similar navigation
Equipment realizes sensor signal redundancy, specifically includes satellite navigation, inertial navigation, integrated navigation, air by data fusion
Data system, radar altimeter, weathercock sensor, contact to earth switch and engine/fuel oil/distribution/undercarriage monitoring；
Wherein to the Redundancy Design of executing agency part, designed by pneumatic rudder face fragment, servo-drive system electric redundance is realized
The redundancy design of executing agency；
It is triplication redundancy pattern wherein to the Redundancy Design of flight control computer part, it is same winged particular by configuration three
Board is controlled, phase short-range order is run, forms similarity redundancy；Bottom provides hardware synchronization, is led between andante by FlexRay buses
Letter.
2. a kind of large-scale high and medium according to claim 1, which is examined, beats integrated system for flight control computer redundancy structure method,
It is characterized in that：The Redundancy Design of the flight sensor system, in terms of inertial navigation, using high-precision optical fiber gyro,
Unmanned plane is set to realize that high-precision throws terminal guidance bomb；The same sensor can provide different navigator fixs and determine appearance letter
, there is redundancy backup relationship between each other in breath；There are air data system, satellite navigation, radar altimeter in elevation information source；Position
Information source has satellite navigation, inertial navigation；There is the mobile difference that high-precision optical fiber gyro, satellite navigation system provide in posture information source
Divide posture.
3. a kind of large-scale high and medium according to claim 1, which is examined, beats integrated system for flight control computer redundancy structure method,
It is characterized in that：The fragment of the pneumatic rudder face designs, and is by each point of two panels of rudder face of unmanned plane both sides aileron, V tails, close to body
4 rudder faces of side claim inside rudder face, and 4 rudder faces far from body side claim outside rudder face, if inside steering engine failure causes
Rudder face is stuck, then controls outside rudder face and take back aircraft safety.
4. a kind of large-scale high and medium according to claim 1, which is examined, beats integrated system for flight control computer redundancy structure method,
It is characterized in that：The electric redundance of the servo-drive system is by two sets of control circuits of steering engine controller interior design, when normal work
Acquiescence is wherein a set of effective, after failure, switches to another set of.
5. a kind of large-scale high and medium according to claim 1, which is examined, beats integrated system for flight control computer redundancy structure method,
It is characterized in that：The flight control computer triplication redundancy pattern is that three fly control plate and acquire same sensing data, respectively resolve control
System rule obtains rudder face instruction, and driving steering engine realizes control closed loop；Single machine failure can be isolated by median voting in rudder face instruction, simultaneously
Each winged control board monitors other board states, and according to control instruction cumulative departure, positioning failure board enables duplication redundancy work
Make.
6. a kind of large-scale high and medium according to claim 5, which is examined, beats integrated system for flight control computer redundancy structure method,
It is characterized in that：The duplication redundancy pattern is：After judging single machine failure, steering engine end/interface board is according to each winged three machines for controlling instruction
Fault condition, according to control plate number is flown successively, airliner is worked as in determination, according to the rudder face order-driven steering engine when airliner, no longer to rudder
Face instruction is put to the vote；According to information such as heartbeat, board self-tests, secondary failure board is determined, enable single mode.
7. a kind of large-scale high and medium according to claim 6, which is examined, beats integrated system for flight control computer redundancy structure method,
It is characterized in that：The single mode is if that, when airliner breaks down again under duplication redundancy pattern, rudder face instruction/interface board will
Power on duty is switched on normal single machine, complete independently flight control.
8. a kind of large-scale high and medium according to claim 5, which is examined, beats integrated system for flight control computer redundancy structure method,
It is characterized in that：The median voting, according to the difference of key aerodynamic rudder face control instruction voting point specifically in flight control system
It is divided into two kinds of voting patterns, constitutes redundancy；A) steering engine end value decides by vote pattern, and rudder face instruction is transmitted to steering engine by CAN bus, in rudder
Generator terminal carries out median voting rear-guard and takes offence dynamic rudder face；B) interface board decides by vote pattern, and interface board obtains rudder face by FlexRay and refers to
It enables, carries out median voting and steering engine is sent to by RS422 again, when steering engine CAN bus failure/lose signal, use the number of RS422 instead
According to instruction.
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Cited By (8)
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| CN110531787A (en) * | 2019-09-18 | 2019-12-03 | 朗星无人机系统有限公司 | A kind of unmanned plane drives into or out of control system automatically |
| CN111338265A (en) * | 2020-03-27 | 2020-06-26 | 浙江华奕航空科技有限公司 | Heterogeneous redundancy unmanned aerial vehicle autopilot |
| WO2021003685A1 (en) * | 2019-07-10 | 2021-01-14 | 深圳市大疆创新科技有限公司 | Time synchronization method, multi-sensor system, and movable platform |
| CN112346332A (en) * | 2020-11-20 | 2021-02-09 | 中国船舶工业集团公司第七0八研究所 | Fault-tolerant control system of underwater unmanned vehicle |
| CN112684743A (en) * | 2020-12-25 | 2021-04-20 | 兰州飞行控制有限责任公司 | Helicopter series steering engine control system and control method based on CAN bus structure |
| CN113608429A (en) * | 2021-06-16 | 2021-11-05 | 中电科芜湖通用航空产业技术研究院有限公司 | Distributed redundancy unmanned aerial vehicle |
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