CN110442073A - A kind of redundance Aircraft Management Computer MIO board channel fault logic judgment method - Google Patents
A kind of redundance Aircraft Management Computer MIO board channel fault logic judgment method Download PDFInfo
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- CN110442073A CN110442073A CN201910811153.7A CN201910811153A CN110442073A CN 110442073 A CN110442073 A CN 110442073A CN 201910811153 A CN201910811153 A CN 201910811153A CN 110442073 A CN110442073 A CN 110442073A
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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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/048—Monitoring; Safety
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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
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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- Automation & Control Theory (AREA)
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Abstract
The invention discloses a kind of redundance Aircraft Management Computer MIO board channel fault logic judgment methods, belong to technical field of flight control, muti-piece CPU board and muti-piece MIO plate, this method comprises: obtaining the output enable signal of the monitoring signal of watchdog circuit, the monitoring signal of power supply supervisory circuit and application software in this MIO plate, and monitoring signal T1, monitoring signal and enable signal are input in the first AND gate circuit；Output signal is passed to each piece of CPU board by the first output signal of the first AND gate circuit；Each piece of CPU board judges whether this MIO plate is effective respectively, and respective judgement signal is input in OR circuit, OR circuit generates the second output signal, first output signal and the second output signal are input in the second AND gate circuit, and generate output enable signal, control external output hardware circuit according to the output enable signal T7, actively forbid the external output function of this plate to reach MIO plate, thus allow other normal works the normal external output data of MIO plate purpose.
Description
Technical field
The invention belongs to the technical fields of UAV Flight Control System, in particular to a kind of redundance aircraft pipe
Manage computer MIO board channel fault logic judgment method.
Background technique
It is that all remaining information sources have the basis inputted in the same time, redundancy computer synchronization monitoring that redundancy computer, which synchronizes,
It is the premise of system margin management reconstruct, therefore, synchronous and synchronization monitoring is the key that establish the steady workbench of redundant system.
Unmanned plane Aircraft Management Computer is aircraft control, the core of management, and reliability directly affects the safety of aircraft.
Unmanned plane Aircraft Management Computer would generally enhance the reliability of system by the way of redundancy.The mode of one of redundancy
It is by the way of 3 pieces of CPU (central processing unit) board+2 pieces of MIO (Multiinputoutput) boards.
In this kind of redundant fashion, MIO plate is mainly responsible for the external equipments information such as acquisition sensor, passes to after treatment
CPU, and receive the information of CPU, external equipment is sent to after processing.
Thermal technology makees two blocks of MIO plates simultaneously, but certain external equipment synchronizations can only receive the data of MIO transmission,
So MIO is it needs to be determined that itself whether outside output data.When MIO is worked normally, can according to CPU send instruction come
It determines itself whether outside output data, still, when the MIO plate of certain external output data is abnormal, CPU can not be received
Instruction, but occupies always external output port, another MIO is caused also normally can not externally to export.
In view of the above-mentioned problems, urgently developing new fault logic judgment method.
Summary of the invention
In consideration of it, in order to solve the above problems existing in the present technology, the purpose of the present invention is to provide a kind of redundances
For Aircraft Management Computer MIO board channel fault logic judgment method with reach can under certain condition, MIO plate actively forbids this
The external output function of plate, so that the external output port that release may be occupied by it, the MIO plate for allowing other to work normally are normal
The purpose of external output data.
The technical scheme adopted by the invention is as follows: a kind of redundance Aircraft Management Computer MIO board channel fault logic is sentenced
Disconnected method, muti-piece CPU board and muti-piece MIO plate, this method comprises:
(1) the monitoring signal T1 of watchdog circuit in this MIO plate, the monitoring signal T2 of power supply supervisory circuit and application are obtained
The output enable signal T3 of software, and monitoring signal T1, monitoring signal T2 and enable signal T3 are input to the first AND gate circuit
In；
(2) the output signal T4 of the first AND gate circuit is generated according to monitoring signal T1, monitoring signal T2 and enable signal T3,
Output signal T4 is passed into each piece of CPU board；
(3) each piece of CPU board judges whether this MIO plate effective respectively, and by respective judgement signal T5 be input to or door electricity
Lu Zhong, OR circuit generate output signal T6；
(4) output signal T4 and output signal T6 are input in the second AND gate circuit, and generate output enable signal T7,
External output hardware circuit is controlled according to the output enable signal T7.
Further, in the step (2), if output signal T4 is " 1 ", output signal T4 is passed into each piece of CPU
Plate；If output signal is " 0 ", it is directly entered in step (4).
Further, if monitoring signal T1, monitoring signal T2 and enable signal T3 are " 1 ", output signal T4 is
"1"；Otherwise, output signal T4 is " 0 ".
Further, in the step (3), if it is each it is described judge at least one in signal T5 for " 1 ", output signal T6
For " 1 "；If each judgement signal T5 is " 0 ", output signal T6 is " 0 ".
Further, in the step (4), if output signal T4 and output signal T6 are " 1 ", enable signal is exported
T7 is " 1 ", controls external output hardware circuit and is externally exported using the data of this MIO plate；Otherwise, enable signal T7 is exported
For " 0 ", controls external output hardware circuit and externally exported without using the data of this MIO plate.
The invention has the benefit that
1. redundance Aircraft Management Computer MIO board channel fault logic judgment method provided by the present invention is used,
By the enabled letter of output for obtaining the monitoring signal T1 of watchdog circuit, the monitoring signal T2 and application software of power supply supervisory circuit
Number T3, judges whether this MIO plate effective in conjunction with three blocks of CPU card plates respectively, with according to different output as a result, to MIO plate master
The dynamic function of forbidding its external output data, so that the external output port that release may be occupied by it, allows other to work normally
The normal external output data of MIO plate, improve the channel failure logic of MIO plate.
Detailed description of the invention
Fig. 1 is the logical flow chart of redundance Aircraft Management Computer MIO board channel fault logic judgment method.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the embodiment of the present invention, it should be noted that indicating position or positional relationship is based on shown in attached drawings
The orientation or positional relationship invention product using when the orientation or positional relationship usually put or this field
Orientation or positional relationship that technical staff usually understands or the invention product using when the orientation usually put or position close
System, is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must have
Specific orientation is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " the
One ", " second " is only used for distinguishing description, is not understood to indicate or imply relative importance.
In the description of the embodiment of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term
" setting ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally connect
It connects；It can be and be directly connected to, can also be indirectly connected with by intermediary.For the ordinary skill in the art, may be used
The concrete meaning of above-mentioned term in the present invention is understood with concrete condition；Attached drawing in embodiment is to in the embodiment of the present invention
Technical solution be clearly and completely described, it is clear that described embodiments are some of the embodiments of the present invention, rather than
Whole embodiments.The component of embodiments of the present invention, which are generally described and illustrated herein in the accompanying drawings can be matched with a variety of different
It sets to arrange and design.
Embodiment 1
As shown in Figure 1, in the present embodiment, specifically providing a kind of redundance Aircraft Management Computer MIO board channel event
Hinder logic judging method, muti-piece CPU board card and muti-piece MIO board are adopted in the redundance Aircraft Management Computer of the present embodiment
Redundant fashion are as follows: the mode of three pieces of CPU (central processing unit) board+two pieces of MIO (Multiinputoutput) boards, in MIO plate
Card is equipped with watchdog circuit, power supply supervisory circuit, and equipped with application software on MIO board.
This method comprises:
(1) the monitoring signal T1 of watchdog circuit in this MIO plate, the monitoring signal T2 of power supply supervisory circuit and application are obtained
The output enable signal T3 of software, and monitoring signal T1, monitoring signal T2 and enable signal T3 are input to the first AND gate circuit
In.
(2) the output signal T4 of the first AND gate circuit is generated according to monitoring signal T1, monitoring signal T2 and enable signal T3；
According to the operation of the first AND gate circuit, if monitoring signal T1, monitoring signal T2 and enable signal T3 are " 1 ", output signal
T4 is " 1 ", and output signal T4 is passed to each piece of CPU board；If in monitoring signal T1, monitoring signal T2 and enable signal T3 at least
One is " 0 ", then output signal T4 is " 0 ", and is directly entered into step (4).
(3) each piece of CPU board judges whether this MIO plate is effective respectively, that is, judges that this MIO plate can be by this block CPU board
Instruction controls itself outside output data, with ensure this MIO plate can normal external output data, and by respective judgement signal
T5 is input in OR circuit, and OR circuit generates output signal T6；If it is each it is described judge at least one in signal T5 for " 1 ",
Then output signal T6 is " 1 "；If each judgement signal T5 is " 0 ", output signal T6 is " 0 ".
(4) output signal T4 and output signal T6 are input in the second AND gate circuit, and generate output enable signal T7,
External output hardware circuit is controlled according to the output enable signal T7；Specifically, if output signal T4 and output signal T6 are
" 1 ", then exporting enable signal T7 is " 1 ", controls external output hardware circuit and is externally exported using the data of this MIO plate；
Otherwise, output enable signal T7 is " 0 ", controls external output hardware circuit and is externally exported without using the data of this MIO plate,
To the external output port that release may be occupied by it, the normal external output data of MIO plate for allowing other to work normally.
In this embodiment, described MIO plate does not mean that some fixed plate, can be any one in two blocks of MIO plates
A MIO plate, i.e. two blocks of MIO plates are intended to carry out above-mentioned channel failure logic judging method.
Embodiment 2
On the basis of embodiment 1, in the present embodiment, a kind of redundance Aircraft Management Computer MIO is specifically provided
Board channel fault logic judges system comprising:
First signal acquisition unit, second signal acquisition unit and third signal acquisition unit, the first signal acquisition unit,
Second signal acquisition unit and third signal acquisition unit are respectively used to acquire the monitoring letter of the watchdog circuit on this MIO board
The output enable signal T3 of number T1, the monitoring signal T2 of power supply supervisory circuit and application software；
First AND gate circuit, first AND gate circuit is for receiving monitoring signal T1, monitoring signal T2 and the enabled letter of output
Number T3, and generate output signal T4；
OR circuit, the OR circuit judge whether this MIO plate is effectively generated for receiving each piece of CPU board card respectively
Judge signal T5, and generates output signal T6；
Second AND gate circuit, second AND gate circuit generate output for receiving output signal T4 and output signal T6
Enable signal T7；
External output circuit, the external output circuit is for receiving output enable signal T7, output enable signal T7 control
Whether the external output circuit uses the data of this MIO plate externally to be exported.
The present invention is not limited to above-mentioned optional embodiment, anyone can show that other are various under the inspiration of the present invention
The product of form, however, make any variation in its shape or structure, it is all to fall into the claims in the present invention confining spectrum
Technical solution, be within the scope of the present invention.
Claims (5)
1. a kind of redundance Aircraft Management Computer MIO board channel fault logic judgment method, muti-piece CPU board and muti-piece MIO plate,
It is characterized in that, this method comprises:
(1) the monitoring signal T1 of watchdog circuit in this MIO plate, the monitoring signal T2 of power supply supervisory circuit and application software are obtained
Output enable signal T3, and monitoring signal T1, monitoring signal T2 and enable signal T3 are input in the first AND gate circuit；
(2) the output signal T4 that the first AND gate circuit is generated according to monitoring signal T1, monitoring signal T2 and enable signal T3, will be defeated
Signal T4 passes to each piece of CPU board out；
(3) each piece of CPU board judges whether this MIO plate is effective respectively, and respective judgement signal T5 is input in OR circuit,
OR circuit generates output signal T6；
(4) output signal T4 and output signal T6 are input in the second AND gate circuit, and generate output enable signal T7, according to
The output enable signal T7 controls external output hardware circuit.
2. redundance Aircraft Management Computer MIO board channel fault logic judgment method according to claim 1, feature
It is, in the step (2), if output signal T4 is " 1 ", output signal T4 is passed into each piece of CPU board；If output signal
For " 0 ", then it is directly entered in step (4).
3. redundance Aircraft Management Computer MIO board channel fault logic judgment method according to claim 2, feature
It is, if monitoring signal T1, monitoring signal T2 and enable signal T3 are " 1 ", output signal T4 is " 1 "；Otherwise, output letter
Number T4 is " 0 ".
4. redundance Aircraft Management Computer MIO board channel fault logic judgment method according to claim 1, feature
Be, in the step (3), if it is each it is described judge at least one in signal T5 for " 1 ", output signal T6 be " 1 "；If each institute
It states and judges that signal T5 is " 0 ", then output signal T6 is " 0 ".
5. redundance Aircraft Management Computer MIO board channel fault logic judgment method according to claim 1, feature
It is, in the step (4), if output signal T4 and output signal T6 are " 1 ", exporting enable signal T7 is " 1 ", control
External output hardware circuit is externally exported using the data of this MIO plate；Otherwise, output enable signal T7 is " 0 ", control pair
Outer output hardware circuit is externally exported without using the data of this MIO plate.
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| CN111694305A (en) * | 2020-06-12 | 2020-09-22 | 西安微电子技术研究所 | Heterogeneous multi-core unmanned aerial vehicle control computer |
| CN111694304A (en) * | 2020-06-12 | 2020-09-22 | 西安微电子技术研究所 | Comprehensive fault logic decision circuit and method for spacecraft |
| CN112558461A (en) * | 2021-02-25 | 2021-03-26 | 四川腾盾科技有限公司 | Output signal voting method for redundancy unmanned aerial vehicle airplane management computer |
| CN113296388A (en) * | 2021-05-27 | 2021-08-24 | 四川腾盾科技有限公司 | Three-redundancy unmanned aerial vehicle steering engine output instruction voting method, system, computer program and storage medium |
| CN113467318A (en) * | 2021-07-20 | 2021-10-01 | 四川腾盾科技有限公司 | Discrete signal output system and method for unmanned aerial vehicle airplane management computer |
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