CN111211854A - Distributed fault-tolerant avionics control system and method based on time deterministic network - Google Patents
Distributed fault-tolerant avionics control system and method based on time deterministic network Download PDFInfo
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- CN111211854A CN111211854A CN201911368900.0A CN201911368900A CN111211854A CN 111211854 A CN111211854 A CN 111211854A CN 201911368900 A CN201911368900 A CN 201911368900A CN 111211854 A CN111211854 A CN 111211854A
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- H04J3/02—Details
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- H04J3/0635—Clock or time synchronisation in a network
- H04J3/0638—Clock or time synchronisation among nodes; Internode synchronisation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
- H04J3/02—Details
- H04J3/06—Synchronising arrangements
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- H04L41/06—Management of faults, events, alarms or notifications
- H04L41/0654—Management of faults, events, alarms or notifications using network fault recovery
- H04L41/0663—Performing the actions predefined by failover planning, e.g. switching to standby network elements
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Abstract
A distributed fault-tolerant avionics control system and method based on a time deterministic network belongs to the technical field of intelligent signal processing circuits. The system of the invention comprises: distributed general purpose computer unit, general purpose remote unit, time triggered network switch, time deterministic component(s), conventional component. The distributed general computer unit in the system collects various kinds of measurement and state information of the time certainty component through the network switch and the general remote unit, and sends a control instruction to the time certainty unit after calculation, thereby completing the specific closed loop operation function in the system. The invention has the system-level functional characteristics of high real-time performance, high fault tolerance and high bandwidth, and can provide a basic system-level platform design framework for a complex spacecraft.
Description
Technical Field
The invention relates to a distributed fault-tolerant avionics control system and method based on a time deterministic network, and belongs to the field of intelligent signal processing circuits.
Background
The time deterministic network is a novel real-time Ethernet architecture, in the network system, all communication actions are strictly driven according to a time schedule, and the whole network can be ensured to carry out collision-free communication by designing the time schedule, namely, all data packets can not have the condition of resource competition, so that the network system has the characteristics of strong real-time performance and small delay jitter. These characteristics make time-deterministic networks very suitable for applications in industrial control, aerospace, automotive electronics, and robotics, etc. systems with stringent requirements for real-time performance. Meanwhile, the time-triggered Ethernet has the advantages of high bandwidth, easy expansion and the like of the traditional Ethernet, so the time-deterministic network is a technology with a great application prospect.
The avionics system is constructed by using the time certainty network, various performance indexes of the system can be greatly improved, and the vitality and the duration of the system under the future use working condition are improved by using an extensible system interface and a framework design.
The main problems of the existing avionics system are as follows: the traditional information transmission system and the conventional part construction system are used, information transmission is carried out through a non-time deterministic network, the problems of low real-time performance, low fault-tolerant capability, complex cable connection and the like exist, and meanwhile, due to the fact that the system is not real-time, software and an operating system are complex to achieve, and accordingly system design and verification cost is high.
Disclosure of Invention
The technical problem solved by the invention is as follows: the distributed fault-tolerant avionic control system and method based on the time certainty network are used, and the distributed fault-tolerant avionic system based on the time certainty network is formed by using a time certainty-based network, a distributed general-purpose computer unit, a general remote unit, a time-triggered network switch, a time certainty component(s) and a conventional component(s).
The technical solution of the invention is as follows: the distributed fault-tolerant avionic control system based on the time deterministic network comprises a distributed general computer unit, a general remote unit, a time trigger network switch, a time deterministic component and a conventional component;
the distributed general computer unit and the general remote unit are connected with the time-triggered network switch through a time deterministic network communication interface; in the instruction sending stage of each control cycle, the distributed general computer unit sends instruction data to the time deterministic component through the time trigger network switch;
the time determinacy component is connected with the time-triggered network switch through a time determinacy network interface; in the data acquisition stage of each control cycle, the time deterministic component sends state data to the distributed general computer unit through the time trigger network switch, and sends instruction data to the general remote unit through the time trigger network switch, and the general remote unit forwards the instruction data of the distributed general computer unit to the conventional component;
the conventional component is connected and communicated with the universal remote unit through a conventional network communication interface, and then is communicated with the distributed general computer unit through a time determinacy network communication interface of the universal remote unit; in the data acquisition stage of each control cycle, the conventional component sends state data to the universal remote unit, and the universal remote unit triggers the network switch through time and forwards the state data of the conventional component to the distributed general computer unit; the conventional network communication interface includes a network communication interface that is not time-deterministic.
Further, the distributed general purpose computers, the time triggered network switch and the time deterministic component form a time deterministic network, the time deterministic network completes clock synchronization and sends a time system signal to the distributed general purpose computers and the time deterministic component through the time triggered switch.
Further, there are several time-triggered network switches, determined by the number of time-deterministic components and the capacity of each time-triggered network switch.
Further, the conventional network communication interface comprises an asynchronous serial port, a level signal, a voltage analog quantity and an OC gate.
Further, the distributed general computer unit is a triple modular thermal redundancy structure and is used for fault tolerance aiming at the distributed general computer unit.
Further, the universal remote unit is a dual-computer cold backup structure.
The control method realized according to the distributed fault-tolerant avionic control system based on the time deterministic network comprises the following steps:
at the beginning of each control cycle, the time deterministic network completes the system clock synchronization and triggers the switch to send a time system signal through time;
in the data acquisition stage of each control cycle, the time deterministic component sends state data to the distributed general computer unit through the time-triggered network switch;
in the data acquisition stage of each control cycle, the conventional component sends state data to the universal remote unit, and the universal remote unit forwards the state data of the conventional component to the distributed general computer unit through the time-triggered network switch;
in the instruction sending stage of each control cycle, the distributed general computer unit sends instruction data to the time deterministic component through the time trigger network switch, and sends the instruction data to the general remote unit through the time trigger network switch, and the general remote unit forwards the instruction data of the distributed general computer unit to the conventional component;
in the fault tolerance stage of each control period, the distributed general computer unit triggers the network switch through time, sends comparison data to the distributed general computer unit and two backups of the distributed general computer unit, compares the comparison data and judges whether the fault distributed general computer unit exists or not; if so, stopping the failed distributed general purpose computer unit; if not, continuing; meanwhile, the universal remote unit carries out self-checking test; if the self-checking is normal, continuing; if the self-checking finds the abnormality, stopping the abnormal general remote unit; meanwhile, the time triggers the network switch to carry out self-checking test; if the self-checking is normal, continuing; if the self-check finds the abnormality, the network switch is triggered by the abnormal time of restarting, and after restarting, the network switch is recovered to the state synchronous with the current network system according to the working states of the distributed general-purpose computer, the time certainty component and the general remote unit;
and (4) completing the operation of the avionics system in one control period, and entering the next control period.
Further, the method for determining whether there is a failed distributed general purpose computer unit includes: under the condition that all three distributed general computer units work, judging whether the comparison data output of each distributed general computer unit is consistent or not through two-out-of-three comparison; if one is found to be inconsistent with the other two, the distributed general computer unit is set as a failure mode; if the three are inconsistent, selecting a distributed general computer unit with a normal self-checking state and a minimum serial number; and under the condition that only two distributed general computer units work, judging whether the computer has a fault or not through self-checking test.
Further, there are several time-triggered network switches, determined by the number of time-deterministic components and the capacity of each time-triggered network switch.
Further, the conventional network communication interface comprises an asynchronous serial port, a level signal, a voltage analog quantity and an OC gate.
Compared with the prior art, the invention has the advantages that:
(1) the invention establishes a high real-time system information transmission mechanism by using a time certainty network construction system, and solves the problem of time certainty of data transmission in the system;
(2) the invention establishes high-speed stable data exchange and comparison capability in a triple modular redundancy system through the application of a time deterministic network, and forms a system-level fault-tolerant architecture based on distribution;
(3) the invention solves the problem of system compatibility existing in both time certainty parts and conventional parts by the combined application of the time certainty network and the universal remote unit, can fully use the existing mature inheritance products, and avoids the cost overhead of newly developing a large number of product interfaces in system construction;
(4) the invention establishes the system capability of autonomous fault tolerance, online replacement and reconfiguration through a distributed system architecture and a networked information transmission system; under the condition that the system has a fault, the system can be automatically reconstructed, and the fault component in the system can be replaced by a manual replacement mode without influencing the working system flow.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a schematic diagram of a distributed general purpose computing unit data exchange;
FIG. 3 is a diagram of a distributed general purpose computing unit data exchange message;
FIG. 4 is a flow chart of the method of the present invention;
fig. 5 is a flow chart of data exchange based on a time deterministic network.
Detailed Description
As shown in fig. 1, the distributed fault-tolerant avionics control system based on a time deterministic network comprises a distributed general-purpose computer unit, a general-purpose remote unit, a time triggered network switch, a time deterministic component and a conventional component;
the distributed general computer unit and the general remote unit are connected with the time-triggered network switch through a time deterministic network communication interface; in the instruction sending stage of each control cycle, the distributed general computer unit sends instruction data to the time deterministic component through the time trigger network switch;
the time determinacy component is connected with the time-triggered network switch through a time determinacy network interface; in the data acquisition stage of each control cycle, the time deterministic component sends state data to the distributed general computer unit through the time trigger network switch, and sends instruction data to the general remote unit through the time trigger network switch, and the general remote unit forwards the instruction data of the distributed general computer unit to the conventional component;
the conventional component is connected and communicated with the universal remote unit through a conventional network communication interface, and then is communicated with the distributed general computer unit through a time determinacy network communication interface of the universal remote unit; in the data acquisition stage of each control cycle, the conventional component sends state data to the universal remote unit, and the universal remote unit triggers the network switch through time and forwards the state data of the conventional component to the distributed general computer unit; the conventional network communication interface comprises a network communication interface without time certainty;
the distributed general purpose computer, the time trigger network switch and the time deterministic component form a time deterministic network, the time deterministic network completes clock synchronization, and a time system signal is sent to the distributed general purpose computer and the time deterministic component through the time trigger switch.
Preferably, as shown in fig. 2 and 3, the distributed general-purpose computer unit internally comprises triple modular thermal redundancy, can develop fault tolerance for itself, and is provided with network communication interfaces with 3 external time-triggered network switches; the universal remote unit has dual-computer cold backup capability and has network communication interfaces with 3 time-triggered network switches; the time deterministic component is a component with a time deterministic network interface in the system, and the time deterministic component and the 3 time triggered network switches are provided with network communication interfaces; the conventional component does not have a time deterministic network interface, is connected with and communicates with the universal remote unit through a conventional communication interface (comprising an asynchronous serial port, a level signal, a voltage analog quantity and an OC gate), and communicates with the distributed universal computer unit through the time deterministic network interface of the universal remote unit. The inside of the system determines the network to carry out communication through time, a time trigger network switch is arranged to connect main working components in the system, and the grid-connected network constructs a redundant network communication system based on a 3-fold network.
Preferably, there are several of the time-triggered network switches, determined by the number of time-deterministic components and the capacity of each time-triggered network switch. The time deterministic component can be expanded in the system, and the number of the time deterministic component can be expanded to 200 according to the capacity of the time trigger network switch.
The universal remote units and the conventional components can be expanded in the system, and which universal remote unit corresponds to which conventional component can be freely configured.
The distributed general computer units can be expanded in the system, a plurality of distributed general computer units can be deployed in the system, data exchange and comparison are carried out through a time deterministic network, and the overall fault tolerance and reliability capability in the system are improved.
The method for realizing the distributed fault-tolerant avionic control system based on the time deterministic network comprises the following steps:
at the beginning of each control cycle, the time deterministic network completes the system clock synchronization and triggers the switch to send a time system signal through time;
according to the system design, in the data acquisition stage of each control cycle, a time certainty component sends state data to a distributed general computer unit through a time trigger network switch;
in the data acquisition stage of each control cycle, the conventional component sends state data to the universal remote unit, and the universal remote unit triggers the network switch through time and forwards the state data of the conventional component to the distributed general computer unit;
according to the system design, at the instruction sending stage of each control cycle, the distributed general computer unit sends instruction data to the time certainty component through the time trigger network switch;
in the instruction sending stage of each control cycle, the distributed general computer unit sends instruction data to the general remote unit through the time-triggered network switch, and the general remote unit forwards the instruction data of the distributed general computer unit to the conventional component;
as shown in fig. 4 and 5, in the fault tolerance stage of each control cycle, the distributed general purpose computer unit sends comparison data to the distributed general purpose computer unit and the two backups thereof through the time-triggered network switch, and compares the comparison data to determine whether there is a faulty distributed general purpose computer unit; if so, stopping the failed distributed general purpose computer unit; if not, continuing; meanwhile, the universal remote unit carries out self-checking test; if the self-checking is normal, continuing; if the self-checking finds the abnormality, stopping the abnormal general remote unit; meanwhile, the time triggers the network switch to carry out self-checking test; if the self-checking is normal, continuing; if the self-check finds the abnormality, the network switch is triggered by the abnormal time of restarting, and after restarting, the network switch is recovered to the state synchronous with the current network system according to the working states of the distributed general-purpose computer, the time certainty component and the general remote unit;
and (4) completing the operation of the avionics system in one control period, and entering the next control period.
The method for judging whether the fault distributed general computer unit exists comprises the following steps: under the condition that all three distributed general computer units work, judging whether the comparison data output of each distributed general computer unit is consistent or not through two-out-of-three comparison; if one is found to be inconsistent with the other two, the distributed general computer unit is set as a failure mode; if the three are inconsistent, selecting a distributed general computer unit with a normal self-checking state and a minimum serial number; and under the condition that only two distributed general computer units work, judging whether the computer has a fault or not through self-checking test.
The method uses a distributed fault-tolerant avionic system based on a time deterministic network, has the main functions of meeting the data communication bandwidth which is 10 times that of the traditional system, can provide the system-level task synchronization precision of 1us level, obtains space flight carrying test verification in a certain new generation manned spacecraft, and meets the task requirements on the working performance and the space flight reliability.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (10)
1. Distributed fault-tolerant avionics control system based on a time deterministic network, characterized in that: the system comprises a distributed general computer unit, a general remote unit, a time-triggered network switch, a time deterministic component and a conventional component;
the distributed general computer unit and the general remote unit are connected with the time-triggered network switch through a time deterministic network communication interface; in the instruction sending stage of each control cycle, the distributed general computer unit sends instruction data to the time deterministic component through the time trigger network switch;
the time determinacy component is connected with the time-triggered network switch through a time determinacy network interface; in the data acquisition stage of each control cycle, the time deterministic component sends state data to the distributed general computer unit through the time trigger network switch, and sends instruction data to the general remote unit through the time trigger network switch, and the general remote unit forwards the instruction data of the distributed general computer unit to the conventional component;
the conventional component is connected and communicated with the universal remote unit through a conventional network communication interface, and then is communicated with the distributed general computer unit through a time determinacy network communication interface of the universal remote unit; in the data acquisition stage of each control cycle, the conventional component sends state data to the universal remote unit, and the universal remote unit triggers the network switch through time and forwards the state data of the conventional component to the distributed general computer unit; the conventional network communication interface includes a network communication interface that is not time-deterministic.
2. The time-deterministic network-based distributed fault-tolerant avionics control system of claim 1, characterized in that: the distributed general purpose computer, the time trigger network switch and the time deterministic component form a time deterministic network, the time deterministic network completes clock synchronization, and a time system signal is sent to the distributed general purpose computer and the time deterministic component through the time trigger switch.
3. The time deterministic network-based distributed fault-tolerant avionics control system of claim 2, characterized in that: the number of time-triggered network switches is determined by the number of time-deterministic components and the capacity of each time-triggered network switch.
4. The time deterministic network-based distributed fault-tolerant avionics control system of claim 2, characterized in that: the conventional network communication interface comprises an asynchronous serial port, a level signal, a voltage analog quantity and an OC gate.
5. The time deterministic network-based distributed fault-tolerant avionics control system of claim 2, characterized in that: the distributed general computer unit is a triple-modular thermal redundancy structure and is used for carrying out fault tolerance aiming at the distributed general computer unit.
6. The time-deterministic network-based distributed fault-tolerant avionics control system of claim 5, characterized in that: the universal remote unit is of a dual-computer cold backup structure.
7. The control method implemented by the distributed fault-tolerant avionics control system based on a time deterministic network according to claim 6, characterized by comprising the following steps:
at the beginning of each control cycle, the time deterministic network completes the system clock synchronization and triggers the switch to send a time system signal through time;
in the data acquisition stage of each control cycle, the time deterministic component sends state data to the distributed general computer unit through the time-triggered network switch;
in the data acquisition stage of each control cycle, the conventional component sends state data to the universal remote unit, and the universal remote unit forwards the state data of the conventional component to the distributed general computer unit through the time-triggered network switch;
in the instruction sending stage of each control cycle, the distributed general computer unit sends instruction data to the time deterministic component through the time trigger network switch, and sends the instruction data to the general remote unit through the time trigger network switch, and the general remote unit forwards the instruction data of the distributed general computer unit to the conventional component;
in the fault tolerance stage of each control period, the distributed general computer unit triggers the network switch through time, sends comparison data to the distributed general computer unit and two backups of the distributed general computer unit, compares the comparison data and judges whether the fault distributed general computer unit exists or not; if so, stopping the failed distributed general purpose computer unit; if not, continuing; meanwhile, the universal remote unit carries out self-checking test; if the self-checking is normal, continuing; if the self-checking finds the abnormality, stopping the abnormal general remote unit; meanwhile, the time triggers the network switch to carry out self-checking test; if the self-checking is normal, continuing; if the self-check finds the abnormality, the network switch is triggered by the abnormal time of restarting, and after restarting, the network switch is recovered to the state synchronous with the current network system according to the working states of the distributed general-purpose computer, the time certainty component and the general remote unit;
and (4) completing the operation of the avionics system in one control period, and entering the next control period.
8. The control method according to claim 7, wherein the method of determining whether there is a failed distributed general purpose computer unit is: under the condition that all three distributed general computer units work, judging whether the comparison data output of each distributed general computer unit is consistent or not through two-out-of-three comparison; if one is found to be inconsistent with the other two, the distributed general computer unit is set as a failure mode; if the three are inconsistent, selecting a distributed general computer unit with a normal self-checking state and a minimum serial number; and under the condition that only two distributed general computer units work, judging whether the computer has a fault or not through self-checking test.
9. The control method according to claim 7, characterized in that: the number of time-triggered network switches is determined by the number of time-deterministic components and the capacity of each time-triggered network switch.
10. The control method according to claim 7, characterized in that: the conventional network communication interface comprises an asynchronous serial port, a level signal, a voltage analog quantity and an OC gate.
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