CN110647059A - Computer system suitable for high-reliability flight control of unmanned aerial vehicle - Google Patents
Computer system suitable for high-reliability flight control of unmanned aerial vehicle Download PDFInfo
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- CN110647059A CN110647059A CN201810665377.7A CN201810665377A CN110647059A CN 110647059 A CN110647059 A CN 110647059A CN 201810665377 A CN201810665377 A CN 201810665377A CN 110647059 A CN110647059 A CN 110647059A
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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
- 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
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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
- G05B2219/00—Program-control systems
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Abstract
The invention provides a computer system suitable for high-reliability flight control of an unmanned aerial vehicle, which comprises at least two computer channels and flight control buses corresponding to the computer channels respectively, wherein the at least two computer channels are independent and have the same structure; for any computer channel, the system comprises an instruction branch and a monitoring branch, wherein the two branches run synchronously, and the instruction branch comprises a first processor and a first bus interface and is connected with a bus corresponding to the channel through the first bus interface; the monitoring branch comprises a second processor and a second bus interface, and is connected with the bus corresponding to the channel through the second bus interface, and a first voting surface and a second voting surface are respectively established at the input end and the output end of the computer channel and are respectively used for voting the input data of the two branches and the resolving results output by the instruction branch and the monitoring branch. The computer system provided by the invention can effectively improve the reliability and safety of the flight control computer and the flight control system.
Description
Technical Field
The invention relates to a computer system suitable for high-reliability flight control of an unmanned aerial vehicle, in particular to reliable control of flight of the unmanned aerial vehicle during high-altitude long-endurance flight, and belongs to the technical field of flight control.
Background
The flight control system is the core system of unmanned aerial vehicle, and the flight control computer is the key equipment of flight control system's core, and its reliability index requires extremely high, especially to high altitude long endurance unmanned aerial vehicle.
For example, double redundancy or triple redundancy flight control computers designed by the similarity redundancy technology are adopted in the field of unmanned aerial vehicles in high altitude long voyage, reliability is greatly improved compared with non-redundancy flight control computers, but the problem that common mode faults cause avalanche type disasters exists by adopting the similarity redundancy technology alone, and in addition, the problem that the accuracy of operation results is not monitored exists in the existing similarity redundancy unmanned aerial vehicle flight control computers.
Disclosure of Invention
The invention provides a computer system suitable for high-reliability flight control of an unmanned aerial vehicle, which can solve the technical problem that the reliability control of the unmanned aerial vehicle flight can not be carried out due to common mode faults and lack of monitoring of accuracy of operation results in the flight control in the prior art.
The technical scheme of the invention is as follows:
the invention provides a computer system suitable for high-reliability flight control of an unmanned aerial vehicle, which comprises at least two computer channels and flight control buses corresponding to the at least two computer channels respectively, wherein the flight control buses corresponding to the at least two computer channels are mutually independent, the at least two computer channels are mutually independent and have the same structure, are electrically connected with the corresponding buses respectively, and acquire data and output data from the corresponding buses respectively; for any computer channel, the computer channel comprises an instruction branch and a monitoring branch, wherein the instruction branch and the monitoring branch run synchronously, the instruction branch comprises a first processor and a first bus interface, and is connected with a bus corresponding to the channel through the first bus interface; the monitoring branch comprises a second processor and a second bus interface, and is connected with the bus corresponding to the channel through the second bus interface, in addition, a first voting surface and a second voting surface are respectively arranged at the input end and the output end of the computer channel, and are respectively used for voting the input data of the instruction branch and the monitoring branch and the resolving results output by the instruction branch and the monitoring branch.
Further, for any one of the computer channels, the instruction branch and the monitoring branch adopt master-slave configuration, wherein the default state is that the instruction branch outputs a final solution result, and the monitoring branch processes and monitors the solution results of the instruction branch input data and output through the first voting surface and the second voting surface.
Further, the first voting surface processes the collected data by adopting an average value method so as to keep the input data of the instruction branch and the monitoring branch consistent.
Furthermore, a threshold judgment method is adopted in the voting algorithm of the second voting surface, wherein when the absolute value of the difference between the resolving results output by the instruction branch and the monitoring branch does not exceed a set threshold, the voting is considered to pass, and the resolving result of the instruction branch is output; otherwise, the table is considered to be failed, and the data output of the corresponding channel is closed at the moment.
Further, the threshold is set not to exceed 1/10 for the solution result of the command leg output or 1/10 for the solution result of the monitoring leg output.
Further, the first processor is a DSP processor, and the second processor is a PowerPC processor.
Further, the DSP processor and the PowerPC processor respectively run different flight control software.
Further, the flight control buses corresponding to the at least two computer channels respectively adopt 1553B buses.
The invention provides a computer system suitable for high-reliability flight control of an unmanned aerial vehicle, and the main point of the invention is that a method of combining a similar redundancy technology and a non-similar redundancy technology and coexisting asynchronous operation and synchronous operation is adopted, wherein at least two mutually independent computer channels with completely same structures synchronously and asynchronously operate simultaneously and transmit data to respective buses, so that the influence of single-channel faults on the whole flight control system can be effectively isolated, and two synchronously-operated computer branches are adopted in a single computer channel and are designed differently, so that the potential common defects caused by adopting the same design can be effectively eliminated, and the aim of eliminating common-mode faults is comprehensively achieved. The invention is characterized in that a voting surface is arranged at the data input end of the computer channel, thus ensuring the consistency of the input data of the instruction branch and the monitoring branch; and another voting surface is arranged at the output end to detect the correctness of the operation result, thereby ensuring the correctness of the software algorithm and comprehensively ensuring the accuracy of the system operation. In conclusion, the design of the invention can effectively improve the reliability and the safety of the flight control computer and the flight control system.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a schematic diagram illustrating a configuration of a flight control computer system provided in accordance with an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating two branch synchronization logic within a computer channel provided in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating an input data voting process provided by an embodiment of the invention;
fig. 4 is a schematic diagram illustrating an output monitoring voting process provided by an embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. 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 only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. 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 is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
As shown in fig. 1, an embodiment of the present invention provides a computer system suitable for high-reliability flight control of an unmanned aerial vehicle, including at least two computer channels and flight control buses corresponding to the at least two computer channels, where the flight control buses corresponding to the at least two computer channels are independent from each other, the at least two computer channels are independent from each other and have the same structure, and are electrically connected to the corresponding buses respectively, and collect data and output data from the corresponding buses respectively; for any computer channel, the computer channel comprises an instruction branch and a monitoring branch, wherein the instruction branch and the monitoring branch run synchronously, the instruction branch comprises a first processor and a first bus interface, and is connected with a bus corresponding to the channel through the first bus interface; the monitoring branch comprises a second processor and a second bus interface, and is connected with the bus corresponding to the channel through the second bus interface, in addition, a first voting surface and a second voting surface are respectively arranged at the input end and the output end of the computer channel, and are respectively used for voting the input data of the instruction branch and the monitoring branch and the resolving results output by the instruction branch and the monitoring branch.
The invention provides a computer system suitable for high-reliability flight control of an unmanned aerial vehicle, and a method for combining a similar redundancy technology and a non-similar redundancy technology and coexisting asynchronous operation and synchronous operation is adopted, wherein at least two mutually independent computer channels with completely the same structure synchronously and asynchronously operate and transmit data to respective buses, so that the influence of single-channel faults on the whole flight control system can be effectively isolated, two synchronously-operating computer branches are adopted in a single computer channel, the potential common defects caused by the adoption of the same design can be effectively eliminated by adopting different designs for the two branches, and the purpose of eliminating common-mode faults is comprehensively achieved; in addition, a voting surface is arranged at the data input end of the computer channel, so that the consistency of the input data of the instruction branch and the monitoring branch is ensured; and another voting surface is arranged at the output end to detect the correctness of the operation result, thereby ensuring the correctness of the software algorithm.
As an embodiment of the invention, a computer system comprises two computer channels: the system comprises a computer channel A, a computer channel B and two buses, wherein the external connection bus of the computer A is a path A1553B and can only collect data and output data from the path of bus, and the external connection bus of the computer B is a path B1553B and can only collect data and output data from the path of bus; for a computer channel a or a computer channel B, taking the computer channel a as an example, the computer channel a includes an instruction branch and a monitoring branch, where the two branches operate synchronously, specifically, the instruction branch and the monitoring branch are interconnected by a VPX backplane bus, and perform task synchronization based on a hardware timer, and the two branches respectively adopt different processors and operate different control software, for example, the instruction branch adopts a DSP processor and operates a structurally designed flight control software developed by using C language; the monitoring branch uses a PowerPC processor and runs object-oriented design flight control software developed by using C + + language; in addition, a first voting surface is arranged at the data input end of the computer channel A, so that the consistency of the input data of the instruction branch and the monitoring branch is ensured; and a second voting surface is arranged at the output end to detect the correctness of the operation result, so that the correctness of the software algorithm is ensured.
In this embodiment, the instruction branch and the monitoring branch operate synchronously, and are synchronized by using a periodic synchronization mode based on a hardware timer, and the synchronization process is as shown in fig. 2, where synchronization is determined as that timing signals of two branches are received simultaneously, that is, the two branches are considered to be synchronized, and then a synchronization signal is given.
In the invention, for any one computer channel, the instruction branch and the monitoring branch adopt master-slave configuration, wherein the default state is that the instruction branch outputs a final solution result, and the monitoring branch processes and monitors the input data of the instruction branch and the output solution result through the first voting surface and the second voting surface.
For example, as shown in fig. 1, a command branch and a monitoring branch of a dual-redundancy structure included in a computer channel a are configured in a master-slave manner, a default state is that the command branch outputs a final solution result, and the command branch and the monitoring branch simultaneously acquire data from an a-way bus, but before data input, the command branch and the monitoring branch are voted by a first voting surface to ensure that input data of the two branches are consistent, and before the solution result is output, the command branch is further voted by a second voting surface to monitor accuracy of the solution result of the command branch.
In this embodiment, as shown in FIG. 3, the first voting surface processes the collected data using an averaging method to keep the input data of the command branch and the monitoring branch consistent. For example, two branches in the computer channel a run synchronously, input data voting is required to control sensor data before resolution, and taking a dual-redundancy sensor as an example, the input data voting process is as follows: if the two sensors are normal, the input data of the two branches are the average value of the two sensors, if one of the two sensors is normal and the other sensor is abnormal, the input data is normal sensor data, and if the two sensors are abnormal, the input value in the previous period is kept.
In this embodiment, as shown in fig. 4, a threshold determination method is adopted in the voting algorithm of the second voting surface, where when an absolute value of a difference between the resolution results output by the instruction branch and the monitoring branch does not exceed a set threshold, it is determined that the decision is passed, and the resolution result of the instruction branch is output; otherwise, the table is considered to be failed, and the data output of the corresponding channel is closed at the moment. By applying the configuration mode, the voting algorithm for designing the second voting surface adopts a threshold judgment method, and because the consistency of the input data of the two branches is ensured by the designed first voting surface in the prior art, theoretically, the output resolving results of the two branches should be consistent, the settlement results of the two branches are voted by the voter by setting the threshold judgment method, so that the accuracy of the resolving result output by the instruction branch is ensured.
Specifically, the voting algorithm adopts a threshold judgment method, which is shown as the following formula:
|uz-uj|≤ul，
in the formula uzIs the instruction branch resolution result, ujFor monitoring the branch resolution result, ulTo set the threshold. If the difference of the resolving results of the two branches is within the threshold range, the decision is considered to pass; otherwise, the output of the computer channel is disconnected if the computer channel is wrong, and the operation of other computer channels is not influenced.
In the present embodiment, it is preferable to set the threshold value not to exceed 1/10 for the resolution result of the command branch output or 1/10 for the resolution result of the monitor branch output.
As an embodiment of the present invention, the following describes a work project of a computer system with dual redundancy, and specifically, the work project is executed according to the following steps:
step 1: the computer system is electrified along with the full-aircraft flight control system equipment, self-inspection is started after the computer system is electrified normally, the flight control application software is loaded after the self-inspection is normal, and the flight control software starts to run periodically;
step 2: the two computer channels A and B run asynchronously, and periodically acquire data from respective 1553B buses respectively;
and step 3: after the computer finishes data acquisition, data acquisition processing is carried out, the two computer channels run asynchronously without data processing, the two branches in the computer channels run synchronously, and input data voting is required for controlling sensor data before resolving. Taking a dual redundancy sensor as an example, the input data voting process is shown in fig. 3;
and 4, step 4: the computer performs control solution, the solution result needs to be output and voted to obtain an output result, and the output voting process is shown in fig. 4:
and inputting the results obtained by resolving the instruction branch and the monitoring branch into a voter for voting. The voting algorithm adopts a threshold judgment method as follows:
|uz-uj|≤ul
in the formula uzIs the instruction branch resolution result, ujFor monitoring the branch resolution result, ulIs a threshold value. If the difference between the resolving results of the two branches is within the threshold range, the decision is considered to be passed, and the resolving result of the instruction branch A is voted and output; otherwise, considering error, and cutting off the output of the computer channel;
and 5: and outputting the voting result to a 1553B bus channel corresponding to the channel, and acquiring input data by an execution mechanism to execute corresponding actions.
Features that are described and/or illustrated above with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments and/or in combination with or instead of the features of the other embodiments.
It should be emphasized that the term "comprises/comprising" when used herein, is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps, components or groups thereof.
The many features and advantages of these embodiments are apparent from the detailed specification, and thus, it is intended by the appended claims to cover all such features and advantages of these embodiments which fall within the true spirit and scope thereof. Further, since numerous modifications and changes will readily occur to those skilled in the art, it is not desired to limit the embodiments of the invention to the exact construction and operation illustrated and described, and accordingly, all suitable modifications and equivalents may be resorted to, falling within the scope thereof.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
The invention has not been described in detail and is in part known to those of skill in the art.
Claims (8)
1. A computer system suitable for high-reliability flight control of an unmanned aerial vehicle is characterized by comprising at least two computer channels and flight control buses corresponding to the at least two computer channels respectively, wherein the flight control buses corresponding to the at least two computer channels are independent from each other, the at least two computer channels are independent from each other and have the same structure, and are respectively electrically connected with the corresponding buses, and data are collected and output from the corresponding buses;
for any one of the computer channels, the computer channel comprises an instruction branch and a monitoring branch, wherein the instruction branch and the monitoring branch run synchronously, and the instruction branch comprises a first processor and a first bus interface and is connected with a bus corresponding to the channel through the first bus interface; the monitoring branch comprises a second processor and a second bus interface, and is connected with the bus corresponding to the channel through the second bus interface, in addition, a first voting surface and a second voting surface are respectively arranged at the input end and the output end of the computer channel and are respectively used for voting the input data of the instruction branch and the monitoring branch and the output resolving results of the instruction branch and the monitoring branch.
2. The computer system of claim 1, wherein the computer system is adapted for high-reliability flight control of the unmanned aerial vehicle, and comprises: for any computer channel, the instruction branch and the monitoring branch adopt master-slave configuration, wherein the default state is that the instruction branch outputs a final solution result, and the monitoring branch processes and monitors the solution results of the instruction branch input data and the instruction branch output through a first voting surface and a second voting surface.
3. The computer system of claim 1, wherein the first voting surface processes the collected data by using an averaging method to keep the input data of the command branch and the monitoring branch consistent.
4. The computer system suitable for high-reliability flight control of the unmanned aerial vehicle as claimed in claim 3, wherein the voting algorithm of the second voting surface adopts a threshold judgment method, wherein when the absolute value of the difference between the resolving results output by the instruction branch and the monitoring branch does not exceed a set threshold, the resolving result of the instruction branch is considered to be passed, and the resolving result of the instruction branch is output; otherwise, the table is considered to be failed, and the data output of the corresponding channel is closed at the moment.
5. The computer system of claim 4, wherein the set threshold is not more than 1/10 of the solution of the command branch output or 1/10 of the solution of the monitoring branch output.
6. The computer system of claim 1-5, wherein the first processor is a DSP processor and the second processor is a PowerPC processor.
7. The computer system of claim 6, wherein the DSP processor and the PowerPC processor run different flight control software respectively.
8. The computer system suitable for high-reliability flight control of unmanned aerial vehicles according to claims 1-7, wherein the flight control buses corresponding to the at least two computer channels are 1553B buses.
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