CN109062028A - A kind of redundance control system of flight control computer - Google Patents
A kind of redundance control system of flight control computer Download PDFInfo
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- CN109062028A CN109062028A CN201811026064.3A CN201811026064A CN109062028A CN 109062028 A CN109062028 A CN 109062028A CN 201811026064 A CN201811026064 A CN 201811026064A CN 109062028 A CN109062028 A CN 109062028A
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B9/00—Safety arrangements
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Abstract
The present invention relates to flight control method more particularly to a kind of redundance control systems of flight control computer, which includes: preposition processing module, for acquiring aircraft control signal, and are transmitted to and fly control processing unit;Flying control processing unit has multiple, for receiving and processing aircraft control signal, respectively obtains corresponding multiple output signals, and postposition output module is for receiving and more multiple output signals；Wherein, multiple winged control processing units can be in communication with each other each other, when one of them, which flies control processing unit, occurs abnormal, exception information can be transmitted to the winged control processing unit of other no exceptions by abnormal winged control processing unit, the winged control processing unit of other no exceptions continues to work normally, and according to the abnormal winged control processing unit of exception information positioning.The present invention is guaranteed the stability of system, the data link of redundance is communicatively coupled by the data link to flight control system setting redundance, accurately can carry out positioning analysis to failure.
Description
Technical field
The present invention relates to flight control method more particularly to a kind of redundance control systems of flight control computer.
Background technique
The flight control of existing aircraft is all that the control system of aircraft is controlled and managed using flight-control computer
Reason, but aircraft is in flight course, may generation system failure, lead to flight control system delay machine, to cause serious fly
Act event.
The generation of above-mentioned accident in order to prevent, existing aircraft can use the management system of redundance, and (remaining refers to needs
There are two or more failures, rather than an independent failure, just cause set one kind for being not intended to that working condition occurs
Design method) a plurality of functional link of setting can enable rapidly other reserve link after a functional link delay machine, it protects
Card flight control system can carry out aircraft to continue control, but existing redundancy flight control system cannot quickly and effectively learn function
The reason of link delay machine, more remaining information cannot be provided, not can guarantee the stability of system, reliable event can not be also provided
Hinder positioning analysis.
Summary of the invention
It is an object of the invention to the defects of the customer service prior art, provide a kind of redundance control system of flight control computer
System solves above-mentioned technical problem.
A kind of redundance control system of flight control computer provided in an embodiment of the present invention, comprising:
Preposition processing module is believed the aircraft control by different digital transmission links for acquiring aircraft control signal
Number it is transmitted to multiple winged control processing units；
The multiple winged control processing unit respectively obtains corresponding for receiving and processing the signal of the digital transmission link
The multiple output signal is transmitted to postposition output module by multiple output signals；
The postposition output module, for reception and more the multiple output signal, according to the number of the multiple output signal
The output signal is exported to rear end equipment according to state；
Wherein, the multiple winged control processing unit can be in communication with each other each other, when one of them winged control processing unit appearance is different
Chang Shi, exception information can be transmitted to the winged control processing unit of other no exceptions by abnormal winged control processing unit, described other
The winged control processing unit of no exceptions continues to work normally, and positions the winged control processing dress of the exception according to the exception information
It sets.
The redundance control system of a kind of flight control computer provided by the invention, by being established between each remaining link
Correspondence provides more remaining information for whole system, guarantees the stable operation of system, while can convey failure in time
Information provides reliable positioning analysis for failure.
Detailed description of the invention
Fig. 1 shows a kind of redundance control system architecture schematic diagram of flight control computer suitable for the embodiment of the present invention；
Fig. 2 shows a hardware block diagrams for flying to control processing unit suitable for the embodiment of the present invention；
Fig. 3 shows the preposition processing module hardware block diagram suitable for the embodiment of the present invention；
Fig. 4 shows the postposition output module hardware configuration figure suitable for the embodiment of the present invention；
Fig. 5 shows the power module layout drawing suitable for the embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Fig. 1 shows a kind of redundance control system schematic diagram of flight control computer suitable for the embodiment of the present invention, including
Preposition processing module 100, multiple winged control processing units 201,202,203 and postpositive disposal module 300, wherein preposition processing
Module 100 is for acquiring aircraft control signal, after being transmitted to the aircraft control signal by different digital transmission links
In multiple winged control processing units 201,202,203 at end, the multiple winged control device 201,202,203 receives the aircraft control
After signal processed, which is handled, obtains respective output signal, and the output signal is sent to postposition output module
300, postposition output module 300 selects signal output all the way after being compared to signal.
In embodiments of the present invention, it can be in communication with each other between multiple winged control processing units 201,202,203, when wherein one
When a winged control processing unit occurs abnormal, exception information can be transmitted to flying for other no exceptions by abnormal winged control processing unit
Processing unit is controlled, the winged control processing unit of other no exceptions continues to work normally, and fixed according to the exception information
The position winged control processing unit of exception.
As one embodiment of the invention, flying control processing unit has 3, and respectively first flies control processing unit 201, second
Fly control processing unit 202 and third flies control processing unit 203, when first, which flies the control failure of processing unit 201, stops working,
Fault message can be respectively sent to second and fly control processing unit 202 and the winged control processing dress of third by the first winged control processing unit 201
203 are set, the second winged control processing unit 202 and the winged control processing unit 203 of third are also working at this time, and common control system is steady
Fixed operation, and second flies control processing unit 202 and the winged control processing unit 203 of third receives and flies the failure that control processing unit is sent
After information, the first fault point for flying control processing unit 201 can be accurately oriented, helps that failure quickly is discharged.
In embodiments of the present invention, the multiple winged processing unit 201,202,203 of controlling is the control core of this system, and one
As use CPU(Central Processing Unit, central processing unit) and FPGA(Field-Programmable Gate
Array, field programmable gate array) biplane is constituted, it is each provided with power-down data protection ability, FPGA and CPU pass through CCDL
(Cross channel data link, cross channel data link road) connection, respectively completes certain mutual backup functionality, can
Realize the recovery of final data.
Fig. 2 shows a hardware block diagrams for flying to control processing unit suitable for the embodiment of the present invention, and details are as follows:
As shown in Fig. 2, the winged control processing unit is equipped with mutually redundant first CPU2002 and the first FPGA2003, and first
Information transmitting between the two is realized in CPU2002 and the first FPGA2003 communication connection；The winged control processing unit is additionally provided with company
It is connected to the first interface 2001 of preposition processing module and is connected to the second interface 2004 of postposition output module, and be used for system
The debugging interface 2005 of debugging.
In embodiments of the present invention, first interface 2001 refers to be located at and flies to be used to connect preposition processing in control processing module
Module and fly control processing module data transmission interface, can be the interfaces such as RS422 interface, CAN interface, can with it is effective
Receive the data of preposition processing module transmission.
In embodiments of the present invention, second interface 2004, which refers to be located at, flies exporting in control processing module for connecting postposition
Module and the data transmission interface for flying control processing module, can be the interfaces such as RS422 interface, CAN interface, can be by winged control
The output signal of processing module is exported to postpositive disposal module.
In embodiments of the present invention, debugging interface 2005 refers to be located at and flies to be used to connect external device in control processing module
Or the interface that network debugs system, it can be the interfaces such as Ethernet interface, RS232 serial ports, facilitate system debug.
As one embodiment of the invention, the first CPU2002 uses MPC8377 type CPU, MPC8377 type CPU to belong to
High performance-price ratio processor is configured with RTC2006(Real-Time Clock, real-time clock), support real-time clock function, people
Machine interactive interface 2007, is connected by I2C, facilitates debugging, the memory of 32bit DDR2 512MB, for storing data,
The BOOT FLASH interface of 64MB, for connecting USB storage device.First FPGA2003 uses XC7K325T type FPGA,
It is connect with the first CPU2002 by the local bus of 16*16, convenient quickly information transmitting therebetween.The first interface
2001 and second interface 2004 be HDLC(High-Level Data Link Control, High-Level Data Link Control) interface,
HDLC is the data link layer protocol of a synchronous transfers on network data, Bit Oriented, the data suitable for higher transmission efficiency
Link；The HDLC interface is all disposed on the first FPGA2003；The debugging interface 2005 includes Ethernet interface and RS232
Interface is arranged on the first CPU2002, debugs for connecting external equipment and network to flight control system.
In embodiments of the present invention, the fpga chip of whole system is triggered with the Trigger2008(in 5ms period) letter
Numbers 1004 be synchronization signal, generates 1ms clock, and the fpga chip in same module is convenient for each other by CCDL2009 connection
Between carry out quick information transmitting.
In embodiments of the present invention, the first FPGA2003 system daily maintenance transmission is controlled, when the system goes out
When existing failure, fault data is transmitted by the first CPU2002, and the first FPGA2003 can be open high for the first CPU2002
The control interface of priority, in order to which the first CPU2002 carries out data transmission.
In embodiments of the present invention, the first CPU2002 and the first FPGA2003 is mutually backups, the two one of them go out
When existing failure, it is in the winged control processing unit to break down, in order to which system is fast which can be sent to other by another
Fast fault point.
As one embodiment of the invention, when the first FPGA2003 of the first CPU2002/ for flying control processing unit 201 occurs
Failure, which can be sent to by the first CPU2002 of the first FPGA2003/ flies at control processing unit 202 and winged control
On the first CPU2002 of the first FPGA2003/ for managing device 203, fly the first of control processing unit 202 and winged control processing unit 203
After the first CPU2002 of FPGA2003/ receives the fault message, fault message is analyzed, can quickly position winged control
The fault point of processing unit 201, facilitates troubleshooting.
In embodiments of the present invention, multiple winged control processing units are connected by communication link, convenient for information each other
Transmitting.
In embodiments of the present invention, fly the communication link between control processing unit and refer to that can be realized multiple winged control processing fills
The physical circuit communicated between setting, can be cable, be also possible to wireless network.
As one embodiment of the invention, by CCDL connection between the multiple winged control management device, guarantee each other it
Between stable rapid data transmission.
In embodiments of the present invention, fly to fly to control there are preset priority relationship between control processing unit 201,202,203
System can run the data for flying control processing unit according to the priority relationship.
In embodiments of the present invention, fly that control processing unit receives the data-signal of preposition processing module and that processing obtains is defeated
It out include the precedence information for flying control processing unit in signal.
As one embodiment of the invention, such as three priority relationships flown between control processing unit 201,202,203
Are as follows: fly control processing unit 201 > flying control processing unit 202 > and fly control processing unit 203, then it is all intact to fly control processing unit when three
In the case where, system can preferentially execute the data for flying control processing unit 201, stop work when flying the control failure of processing unit 201
When making, system can preferentially execute the data for flying control processing unit 202, and so on, only when the winged control of high priority handles dress
Failure is set, system executes the data that next priority flies control processing unit.
In embodiments of the present invention, Fig. 3 shows the preposition processing module hardware block diagram suitable for the embodiment of the present invention, is described in detail
It is as follows:
As shown in figure 3, preposition processing module includes the sensor 301 for acquiring aircraft control signal, it to be used for receiving sensor
The third interface 302 of 301 signal is handled data and is distributed the 2nd FPGA303 of transmission link and passed signal
Transport to the 4th interface 304 for flying control processing unit.
In embodiments of the present invention, sensor 301 refers in entire flight control system with induction aircraft state signal and system
The sensor of status signal, for acquiring the various status informations of aircraft.
In embodiments of the present invention, third interface 302 is used for the data-signal of receiving sensor acquisition, can be RS422
Interface, APINC429 interface and CAN interface etc. stablize receiving sensor signal for guaranteeing.
In embodiments of the present invention, the 2nd FPGA303 is for being isolated self-test, and self-test information is sent to and flies control processing dress
It sets.
In embodiments of the present invention, the 4th interface 304 is used for preposition processing module for signal with multiplexing link transmission
To in multiple winged control processing units, it can be the interfaces such as RS232, Ethernet.
As one embodiment of the invention, third interface 302 is 32 road RS422 interfaces, 4 road ARINC429 interfaces and 3
Road CAN interface is used for receiving sensor data, and provides sensor configuration link, link configuration by highest priority winged control
Processing unit carries out.2nd FPGA303 uses XC7K425T type FPGA, and has two panels, leads between the 2nd FPGA303 of two panels
CCDL connection is crossed, mutually transmits self-test information, while self-test information being uploaded to and flies control processing unit.4th interface 304
Using DDLC interface, for the signal of pre-procesor to be passed through different data link transmission to multiple winged control processing units
In.
In embodiments of the present invention, it is interacted between two panels FPGA by CCDL, mutually transmitting heartbeat state information, letter
Breath management library statistical information, self-test status information and fault message can carry out emergency data when link exception occurs
Transmission, content include: failure removing instruction, emergency operation instruction and emergency data communication.
As an embodiment of the present invention, when preposition module 100 breaks down, the first fpga chip of two panels can be by each
From the isolation self-checking function of control, the connection between front end sensors is disconnected, constitutes from winding link, carries out self-test, to
Determine fault location, and fault location information is uploaded to by the 4th interface 304 and flies control processing unit, and handling failure is used for.
In embodiments of the present invention, Fig. 4 shows the postposition output module hardware configuration figure suitable for the embodiment of the present invention, in detail
It states as follows:
As shown in figure 4, postposition output module includes being connected to the 5th interface 401 for flying control processing unit, data are handled
And the 6th interface 403 of the 3rd FPGA402 and output data exported.
In embodiments of the present invention, the 5th interface 401 refers to the connection postposition output for being located on postposition output module
Module and the data-interface for flying control processing unit, can be CAN interface, RS422 interface etc., for guaranteeing that postposition exports mould
Block and the data for flying stability and high efficiency between control processing unit are transmitted.
In embodiments of the present invention, the 3rd FPGA402 is identical as the first, second FPGA, for handling data.
In embodiments of the present invention, the 6th interface 403 refers to the data output interface of postposition output module, is used for and postposition
Equipment carries out data transmission, and concrete type can be configured according to the interface of post equipment, as CAN interface, RS232,
The interfaces such as RS422.
As one embodiment of the invention, the 5th interface 401 uses 7 tunnel CAN interfaces, 2 road RS422 interfaces,
Three FPGA402 have two panels, and model is all XC7K325T, and the 6th interface 403 is arranged according to practical post equipment, select
RS232 carries out data transmission with postposition serial equipment, is wherein designed with the 5th interface and the 6th interface on the 3rd FPGA of two panels,
And interacted between the 3rd FPGA of two panels by CCDL, mutually transmitting heartbeat state information, information management library statistical information, from
Status information and fault message are examined, when link exception occurs, emergency data transmission can be carried out, content includes: failure stripping
From instruction, emergency operation instruction and emergency data communication.
In embodiments of the present invention, when exception occurs in the link of postposition output module, active and standby two parts of FPGA can be by respective
The isolation self-checking function of control disconnects the link for flying control processing unit with front end, constitutes from winding link, carries out self-test, to
It determines abort situation, and flight control computer is reported by CCDL, be convenient for rapidly removing faults.
In embodiments of the present invention, told flight control computer redundance control system is also provided with power module, the electricity
Source module includes main power board and Universal Power, and Fig. 5 shows the power module layout drawing suitable for the embodiment of the present invention, is described in detail
It is as follows:
As shown in figure 5, the flight control computer redundance control system includes a main power board 501 and multiple Universal Powers
502, wherein main power board 501 is used to power to whole system, and provides necessary power supply, monitoring function, and can
It generates abnormity of power supply to interrupt, for protecting subsequent equipment；Universal Power, which is integrated in, to fly inside control processing unit, for mentioning for it
For independent isolated power supply.
As one embodiment of the invention, shown Universal Power has three pieces, is respectively fixedly disposed at and flies control processing unit
Inside, Universal Power can provide independent separation power supply and necessary power supply and monitoring function to fly control processing unit
Can, guarantee in main power source failure accident power-off, necessary power supply can be provided to fly the data backup of control processing unit.
In embodiments of the present invention, told flight control computer redundance control system is also provided with backboard；The preposition place
Reason module, the flight control computer module, the postposition output module and the power module are mounted on the backboard, with
Different slot positions, which is provided, for above-mentioned module convenient for backboard distributes the different address I2C and IP address.
As one embodiment of the invention, backboard provides power supply and the installation of necessary board, cabling to fly control processing unit
Space and card slot；Independent debugging mouth is provided, is capable of providing power supply power supply ability, each board slot position is with having different slot positions
Location distributes the different address I2C and IP address for board automatically, is convenient for equipment maintenance and management.User can be connected by system
RS232 and Ethernet interface on device realize the status information access of the debugging configuration and all boards that fly control processing unit；
When two pieces of main power boards fail simultaneously, rear end equipment just can power source-responsive abnormal interrupt.
The redundance control system of a kind of flight control computer provided by the invention, by being established between each remaining link
Correspondence provides more remaining information for whole system, guarantees the stable operation of system, in the event of a failure, Ge Gemo
Even if block energy disconnects, self-test circuit is formed, fault point is found in time, while timely conveying fault message, is mentioned for failure
For reliable positioning analysis.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of redundance control system of flight control computer characterized by comprising
Preposition processing module is believed the aircraft control by different digital transmission links for acquiring aircraft control signal
Number it is transmitted to multiple winged control processing units；
The multiple winged control processing unit respectively obtains corresponding for receiving and processing the signal of the digital transmission link
The multiple output signal is transmitted to postposition output module by multiple output signals；
The postposition output module, for reception and more the multiple output signal, according to the number of the multiple output signal
The output signal is exported to rear end equipment according to state；
Wherein, the multiple winged control processing unit can be in communication with each other each other, when one of them winged control processing unit appearance is different
Chang Shi, exception information can be transmitted to the winged control processing unit of other no exceptions by abnormal winged control processing unit, described other
The winged control processing unit of no exceptions continues to work normally, and positions the winged control processing dress of the exception according to the exception information
It sets.
2. a kind of flight control computer redundance management system according to claim 1, which is characterized in that the winged control processing
Device includes:
Mutually redundant central processing unit and field programmable gate array, the central processing unit and the field-programmable gate array
Column are connected by cross channel data link road；
For connecting the interface of the preposition processing module and the postposition output module；
Debugging interface for system debug.
3. a kind of computer according to claim 2 flies control redundance management system, which is characterized in that described to be mutually backups
Central processing unit and field programmable gate array mutually monitor, when it is described it is winged control processing unit the central processing unit/institute
It states field programmable gate array and exception occurs, the field programmable gate array/central processing unit can be by abnormal transmission extremely
Other are abnormal winged control processing unit occur.
4. a kind of computer according to claim 3 flies control redundance management system, which is characterized in that the multiple winged control
It is connected between processing unit by communication link, can be realized and think that information is transmitted each other.
5. a kind of computer according to claim 2 flies control redundance management system, which is characterized in that the multiple winged control
There are preset priority relationship, the systems to run the flight control computer mould according to the priority relationship for computer module
Block.
6. a kind of flight control computer redundance management system according to claim 1, which is characterized in that the preposition processing
Module includes:
For acquiring the sensor of the aircraft control signal；
For configuring the interface of the digital transmission link for the aircraft control signal that the sensor acquires；
For self-test to be isolated and self-test information is uploaded to the field programmable gate array of the flight control computer module.
7. a kind of flight control computer redundance management system according to claim 3, which is characterized in that described for being isolated
The field programmable gate array that self-test information is uploaded to the flight control computer module is simultaneously had two panels by self-test, passes through cross aisle
Data link connection, the self-test information include the combination of following one or more of information:
Heartbeat state information, information management library statistical information, self-test status information and fault message.
8. a kind of flight control computer redundance management system according to claim 1, which is characterized in that the postposition output
Module includes:
For connecting the interface of the flight control computer module；
The two panels field programmable gate array connected by cross channel data link road.
9. a kind of flight control computer redundance management system according to claim 1, which is characterized in that further include power supply mould
Block, the power module include:
For providing the main power board of power supply and power supply, monitoring function for the system；And
For providing the Universal Power of independent isolated power supply and power supply, monitoring function for the system.
10. a kind of flight control computer redundance management system according to claims 1 and 2, which is characterized in that further include back
Plate, the preposition processing module, the flight control computer module, the postposition output module and the power module are mounted on
On the backboard, the backboard is equipped with the slot position for distributing the different address I2C and IP address automatically for module.
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| CN201811026064.3A CN109062028A (en) | 2018-09-04 | 2018-09-04 | A kind of redundance control system of flight control computer |
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| CN201811026064.3A CN109062028A (en) | 2018-09-04 | 2018-09-04 | A kind of redundance control system of flight control computer |
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| WO2023045067A1 (en) * | 2021-09-27 | 2023-03-30 | 广东汇天航空航天科技有限公司 | Flight control unit, aircraft control system and method, and aircraft |
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| CN109991841A (en) * | 2019-03-27 | 2019-07-09 | 西安联飞智能装备研究院有限责任公司 | Flight control computing system and control signal output method, device and storage medium |
| CN109991841B (en) * | 2019-03-27 | 2022-04-05 | 西安联飞智能装备研究院有限责任公司 | Flight control computing system, control signal output method, device and storage medium |
| CN113009933A (en) * | 2021-03-10 | 2021-06-22 | 广东汇天航空航天科技有限公司 | Control device and control method of aircraft and aircraft |
| CN113726324A (en) * | 2021-08-09 | 2021-11-30 | 成都凯天电子股份有限公司 | Synchronous output method for multi-redundancy program-controlled proximity switch |
| WO2023045067A1 (en) * | 2021-09-27 | 2023-03-30 | 广东汇天航空航天科技有限公司 | Flight control unit, aircraft control system and method, and aircraft |
| CN114527698A (en) * | 2022-02-22 | 2022-05-24 | 之江实验室 | Redundant flight controller |
| CN114527698B (en) * | 2022-02-22 | 2023-10-31 | 之江实验室 | Flight controller with redundant functions |
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Application publication date: 20181221 |