CN110442073B - Logical judgment method for redundant airplane management computer MIO board channel fault - Google Patents
Logical judgment method for redundant airplane management computer MIO board channel fault Download PDFInfo
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- CN110442073B CN110442073B CN201910811153.7A CN201910811153A CN110442073B CN 110442073 B CN110442073 B CN 110442073B CN 201910811153 A CN201910811153 A CN 201910811153A CN 110442073 B CN110442073 B CN 110442073B
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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
Abstract
The invention discloses a logical judgment method for redundant airplane management computer MIO board channel faults, which belongs to the technical field of flight control and comprises a plurality of CPU boards and a plurality of MIO boards, wherein the method comprises the following steps: acquiring a monitoring signal of a watchdog circuit, a monitoring signal of a power supply monitoring circuit and an output enabling signal of application software in the MIO board, and inputting the monitoring signal T1, the monitoring signal and the enabling signal into a first AND gate circuit; the first output signal of the first AND gate circuit transmits the output signal to each CPU board; each CPU board respectively judges whether the MIO board is effective or not, respective judgment signals are input into an OR gate circuit, the OR gate circuit generates a second output signal, the first output signal and the second output signal are input into a second AND gate circuit, an output enabling signal is generated, and an external output hardware circuit is controlled according to the output enabling signal T7, so that the aim that the MIO board actively forbids the external output function of the MIO board is fulfilled, and other MIO boards which normally work normally output data is achieved.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle flight control systems, and particularly relates to a logical judgment method for redundant airplane management computer MIO board channel faults.
Background
The redundancy computer synchronization is the basis that all redundancy information sources have the same input at the same time, and the redundancy computer synchronization monitoring is the premise of system redundancy management reconstruction, so the synchronization and the synchronization monitoring are the key for establishing a robust working platform of a redundancy system.
The unmanned plane airplane management computer is the core of airplane control and management, and the reliability of the unmanned plane airplane management computer directly influences the safety of an airplane. The drone aircraft management computer typically employs redundancy to enhance system reliability. One of the redundancy methods is a method using 3 CPU (central processing unit) boards +2 MIO (multiple input and output) boards.
In the redundancy mode, the MIO board is mainly responsible for collecting information of external equipment such as a sensor and the like, transmitting the information to the CPU after processing, receiving the information of the CPU, and sending the information to the external equipment after processing.
Two MIO boards work thermally at the same time, but some external devices can only receive data sent by one MIO at the same time, so the MIO needs to determine whether to output data outwards. When the MIOs work normally, whether the MIOs output data outwards can be determined according to the instruction sent by the CPU, but when an MIO board outputting data outwards is abnormal, the MIO board cannot receive the instruction of the CPU and occupies an external output port all the time, so that another MIO cannot output data outwards normally.
In view of the above problems, development of a new fault logic determination method is urgently needed.
Disclosure of Invention
In view of the above, in order to solve the above problems in the prior art, an object of the present invention is to provide a logical failure judgment method for an MIO board of a redundant aircraft management computer, so as to achieve the purpose that under a certain condition, the MIO board actively prohibits an external output function of the local board, thereby releasing an external output port that may be occupied by the local board, and allowing other normally operating MIO boards to normally output data to the outside.
The technical scheme adopted by the invention is as follows: a logical judgment method for the channel fault of an MIO board of a redundancy aircraft management computer comprises a plurality of CPU boards and a plurality of MIO boards, and the method comprises the following steps:
(1) acquiring a monitoring signal T1 of a watchdog circuit, a monitoring signal T2 of a power supply monitoring circuit and an output enabling signal T3 of application software in the MIO board, and inputting the monitoring signal T1, the monitoring signal T2 and an enabling signal T3 into a first AND gate circuit;
(2) generating an output signal T4 of the first AND gate circuit according to the monitoring signal T1, the monitoring signal T2 and the enable signal T3, and transmitting the output signal T4 to each CPU board;
(3) each CPU board respectively judges whether the MIO board is effective or not, and inputs respective judgment signals T5 into an OR gate circuit, and the OR gate circuit generates an output signal T6;
(4) the output signal T4 and the output signal T6 are input to the second and circuit, and an output enable signal T7 is generated, and the external output hardware circuit is controlled based on the output enable signal T7.
Further, in the step (2), if the output signal T4 is "1", the output signal T4 is transmitted to each CPU board; if the output signal is "0", the process proceeds to step (4).
Further, if the monitor signal T1, the monitor signal T2, and the enable signal T3 are all "1", the output signal T4 is "1"; otherwise, the output signal T4 is "0".
Further, in the step (3), if at least one of the determination signals T5 is "1", the output signal T6 is "1"; if each of the determination signals T5 is "0", the output signal T6 is "0".
Further, in the step (4), if the output signal T4 and the output signal T6 are both "1", the output enable signal T7 is "1", and the external output hardware circuit is controlled to use the data of the MIO board to perform external output; otherwise, the output enable signal T7 is "0", and the external output hardware circuit is controlled to perform external output without using the data of the present MIO board.
The invention has the beneficial effects that:
1. by adopting the logical judgment method for the channel fault of the MIO board of the redundancy aircraft management computer, which is provided by the invention, the monitoring signal T1 of the watchdog circuit, the monitoring signal T2 of the power supply monitoring circuit and the output enabling signal T3 of the application software are obtained, and then three CPU card boards are combined to respectively judge whether the MIO board is effective or not, so that the function of outputting data to the MIO board is actively forbidden according to different output results, thereby releasing the external output port possibly occupied by the MIO board, enabling other MIO boards working normally to output data to the outside and improving the channel fault logic of the MIO board.
Drawings
FIG. 1 is a logic flow diagram of a method for determining redundancy aircraft management computer MIO board channel failure logic.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the embodiments of the present invention, it should be noted that the indication of the orientation or the positional relationship is based on the orientation or the positional relationship shown in the drawings, or the orientation or the positional relationship which is usually placed when the product of the present invention is used, or the orientation or the positional relationship which is usually understood by those skilled in the art, or the orientation or the positional relationship which is usually placed when the product of the present invention is used, and is only for the convenience of describing the present invention and simplifying the description, but does not indicate or imply that the indicated device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, cannot be understood as limiting the present invention. Furthermore, the terms "first" and "second" are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present invention, it should be further noted that the terms "disposed" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, unless explicitly stated or limited otherwise; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases by those skilled in the art; the drawings in the embodiments are used for clearly and completely describing the technical scheme in the embodiments of the invention, and obviously, the described embodiments are a part of the embodiments of the invention, but not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Example 1
As shown in fig. 1, in the present embodiment, a logical judgment method for an MIO board channel failure of a redundant aircraft management computer is specifically provided, where a plurality of CPU board cards and a plurality of MIO board cards are provided, and in the redundant aircraft management computer of the present embodiment, a redundancy method is adopted: the method comprises the following steps that three CPU (central processing unit) board cards and two MIO (multiple input and output) board cards are adopted, a watchdog circuit and a power supply monitoring circuit are arranged on the MIO board cards, and application software is loaded on the MIO board cards.
The method comprises the following steps:
(1) the monitoring signal T1 of the watchdog circuit, the monitoring signal T2 of the power supply monitoring circuit and the output enable signal T3 of the application software in the MIO board are obtained, and the monitoring signal T1, the monitoring signal T2 and the enable signal T3 are input into the first AND gate circuit.
(2) Generating an output signal T4 of the first and circuit according to the monitor signal T1, the monitor signal T2, and the enable signal T3; according to the operation of the first and circuit, if the monitor signal T1, the monitor signal T2 and the enable signal T3 are all "1", the output signal T4 is "1", and the output signal T4 is transmitted to each CPU board; if at least one of the monitor signal T1, the monitor signal T2, and the enable signal T3 is "0", the output signal T4 is "0", and the process proceeds directly to step (4).
(3) Each CPU board respectively judges whether the MIO board is effective, namely, the MIO board can control the MIO board to output data outwards through the instruction of the CPU board so as to ensure that the MIO board can normally output data outwards, and respective judgment signals T5 are input into an OR gate circuit, and the OR gate circuit generates an output signal T6; if at least one of the determination signals T5 is "1", the output signal T6 is "1"; if each of the determination signals T5 is "0", the output signal T6 is "0".
(4) Inputting the output signal T4 and the output signal T6 to a second and circuit, generating an output enable signal T7, and controlling an external output hardware circuit according to the output enable signal T7; specifically, if the output signal T4 and the output signal T6 are both "1", the output enable signal T7 is "1", and the external output hardware circuit is controlled to use the data of the MIO board to perform external output; otherwise, the output enable signal T7 is "0", and the external output hardware circuit is controlled not to use the data of the MIO board to perform external output, so as to release the external output port that may be occupied by the external output hardware circuit, and allow other normally operating MIO boards to normally output data externally.
In this embodiment, the MIO board is not a specific board, and may be any one of two MIO boards, that is, both the two MIO boards need to perform the channel failure logic determination method.
Example 2
On the basis of embodiment 1, in this embodiment, a system for determining a redundancy aircraft management computer MIO board channel failure logic is specifically provided, which includes:
the MIO board comprises a first signal acquisition unit, a second signal acquisition unit and a third signal acquisition unit, wherein the first signal acquisition unit, the second signal acquisition unit and the third signal acquisition unit are respectively used for acquiring a monitoring signal T1 of a watchdog circuit, a monitoring signal T2 of a power supply monitoring circuit and an output enabling signal T3 of application software on the MIO board;
a first and gate circuit for receiving the monitor signal T1, the monitor signal T2, and the output enable signal T3 and generating an output signal T4;
the OR gate circuit is used for receiving a judgment signal T5 generated by judging whether the MIO board is valid or not by each CPU board card and generating an output signal T6;
a second and circuit for receiving the output signal T4 and the output signal T6 and generating an output enable signal T7;
and the pair of external output circuits is used for receiving an output enable signal T7, and the output enable signal T7 controls whether the pair of external output circuits use the data of the MIO board for external output.
The invention is not limited to the above alternative embodiments, and any other various forms of products can be obtained by anyone in the light of the present invention, but any changes in shape or structure thereof, which fall within the scope of the present invention as defined in the claims, fall within the scope of the present invention.
Claims (5)
1. A logical judgment method for the channel fault of an MIO board of a multi-redundancy airplane management computer comprises a plurality of CPU boards and a plurality of MIO boards, and is characterized in that the method comprises the following steps:
(1) acquiring a monitoring signal T1 of a watchdog circuit, a monitoring signal T2 of a power supply monitoring circuit and an output enabling signal T3 of application software in the MIO board, and inputting the monitoring signal T1, the monitoring signal T2 and an enabling signal T3 into a first AND gate circuit;
(2) generating an output signal T4 of the first AND gate circuit according to the monitoring signal T1, the monitoring signal T2 and the enable signal T3, and transmitting the output signal T4 to each CPU board;
(3) each CPU board respectively judges whether the MIO board is effective or not, and inputs respective judgment signals T5 into an OR gate circuit, and the OR gate circuit generates an output signal T6;
(4) the output signal T4 and the output signal T6 are input to the second and circuit, and an output enable signal T7 is generated, and the external output hardware circuit is controlled based on the output enable signal T7.
2. The method for logical judgment of the channel failure of the multi-redundancy airplane management computer MIO board according to claim 1, wherein in the step (2), if the output signal T4 is "1", the output signal T4 is transmitted to each CPU board; if the output signal is "0", the process proceeds to step (4).
3. The method of claim 2, wherein if the monitor signal T1, the monitor signal T2 and the enable signal T3 are all "1", the output signal T4 is "1"; otherwise, the output signal T4 is "0".
4. The method for logically determining the mlf of the multi-redundancy airplane management computer MIO board according to claim 1, wherein in the step (3), if at least one of the determination signals T5 is "1", the output signal T6 is "1"; if each of the determination signals T5 is "0", the output signal T6 is "0".
5. The method for logically judging the channel fault of the multi-redundancy airplane management computer MIO board according to claim 1, wherein in the step (4), if the output signal T4 and the output signal T6 are both "1", the output enable signal T7 is "1", and an external output hardware circuit is controlled to use the data of the MIO board to perform external output; otherwise, the output enable signal T7 is "0", and the external output hardware circuit is controlled to perform external output without using the data of the present MIO board.
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| CN111694304B (en) * | 2020-06-12 | 2021-11-09 | 西安微电子技术研究所 | Comprehensive fault logic decision circuit and method for spacecraft |
| CN111694305B (en) * | 2020-06-12 | 2021-11-09 | 西安微电子技术研究所 | Heterogeneous multi-core unmanned aerial vehicle control computer |
| CN112558461B (en) * | 2021-02-25 | 2021-05-14 | 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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