CN112644690B - Data cross transmission system of actuator control computer - Google Patents
Data cross transmission system of actuator control computer Download PDFInfo
- Publication number
- CN112644690B CN112644690B CN202011223795.4A CN202011223795A CN112644690B CN 112644690 B CN112644690 B CN 112644690B CN 202011223795 A CN202011223795 A CN 202011223795A CN 112644690 B CN112644690 B CN 112644690B
- Authority
- CN
- China
- Prior art keywords
- control unit
- steering engine
- data
- channel
- computer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/24—Transmitting means
- B64C13/38—Transmitting means with power amplification
- B64C13/40—Transmitting means with power amplification using fluid pressure
- B64C13/42—Transmitting means with power amplification using fluid pressure having duplication or stand-by provisions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/24—Transmitting means
- B64C13/38—Transmitting means with power amplification
- B64C13/50—Transmitting means with power amplification using electrical energy
- B64C13/505—Transmitting means with power amplification using electrical energy having duplication or stand-by provisions
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Power Steering Mechanism (AREA)
Abstract
The application provides a data cross transmission system of an actuator control computer based on fault tolerance characteristics of the actuator control computer in a flight control system, wherein the data cross transmission system comprises two channels, each channel comprises at least two servo control units, and the data cross transmission system comprises the following components: the N main control computers are respectively connected with each servo control unit of each corresponding channel; the N main control computers are respectively connected with N corresponding system buses; the N system buses are respectively connected with the corresponding servo control units; each servo control unit in the channel is connected with different control objects respectively; each servo control unit in the channel is used for cross-transmitting data through the inter-channel data cross-transmitting CCDL connection; all servo control units are interconnected by CDL.
Description
Technical Field
The application relates to the field of onboard computer design, in particular to a data cross transmission system of an actuator control computer.
Background
Actuator control computers typically employ redundancy designs to achieve greater reliability so that the computer meets the system requirements of fail-safe (FS) or fail-safe (FO). Multiple channels are designed in the redundancy (channel) control computer, and the channels are backed up mutually. When the control computer works, each cycle needs to carry out data comparison and monitoring, and timely find out the channel fault of the computer, and carry out the fault processing and reporting specified by the system. Synchronization and data interworking are required between channels.
Generally, in system design, the redundancy configuration of a computer is consistent with the redundancy configuration of input and output data. When the redundancy of input and output data is smaller than that of a computer, redundancy matching is generally realized in a signal splitting mode; when the redundancy of the input and output data is higher than that of the computer, the redundancy matching of the input and output data is realized by designing the cross transmission which is higher than that of the computer. However, the existing actuator control computer data cross transmission system has high complexity of synchronization and data cross transmission among computer channels, and low efficiency of data cross transmission among channels.
Disclosure of Invention
In order to solve the technical problems, the application provides a data cross transmission system of an actuator control computer, which can simplify the complexity of synchronization and data cross transmission among channels of the computer and improve the efficiency of data cross transmission among channels
The application provides a data cross transmission system of an actuator control computer, which comprises two channels, wherein each channel comprises at least two servo control units, and the servo control units are arranged in the channels, wherein the servo control units are arranged in the channels, and the servo control units are arranged in the channels, wherein the servo control units are arranged in the servo control units, and the servo control units are arranged in the servo:
the N main control computers are respectively connected with each servo control unit of each corresponding channel; the N main control computers are respectively connected with N corresponding system buses; the N system buses are respectively connected with the corresponding servo control units; each servo control unit in the channel is connected with different control objects respectively; each servo control unit in the channel is used for cross-transmitting data through the inter-channel data cross-transmitting CCDL connection; all servo control units are interconnected by CDL.
Specifically, the master control computer_a, the master control computer_b, the master control computer_c and the master control computer_d are connected with each other, wherein:
the main control computer_A is connected with a steering engine 1 control unit A of the channel CH_A through a system bus A;
the main control computer_B is connected with a steering engine 2 control unit A of the channel CH_A through a system bus B;
the main control computer_C is connected with a steering engine 1 control unit B of the channel CH_B through a system bus C;
the main control computer D is connected with a steering engine 2 control unit B of the channel CH_B through a system bus D.
Specifically, the steering engine 1 control unit A and the steering engine 1 control unit B are connected with the steering engine 1;
and the steering engine 2 control unit A and the steering engine 2 control unit B are connected with the steering engine 2.
Specifically, steering wheel 1 control unit A, steering wheel 1 control unit B, steering wheel 2 control unit A and steering wheel 2 control unit B pass through CDL interconnection.
Specifically, the steering engine 1 control unit A and the steering engine 1 control unit B are connected through inter-channel data cross transmission CCDL and are used for cross transmission of data;
the steering engine 2 control unit A and the steering engine 2 control unit B are connected through inter-channel data cross transmission CCDL and are used for cross transmission of data.
Specifically, the steering engine 1 control unit A and the steering engine 1 control unit B are connected through SYNC and used for synchronization;
the steering engine 2 control unit A and the steering engine 2 control unit B are connected through SYNC and used for synchronization.
Specifically, the master computer_a, the master computer_b, the master computer_c, and the master computer_d cross-transmit CCDL connections via inter-channel data.
Specifically, each servo control unit in the channel is respectively connected with a flap, an aileron, a horizontal tail, a vertical tail, a rudder and front wheel steering.
The application has the advantages that: the high-redundancy cross transmission is adopted for the input and output bus data of the computer, so that each servo control unit can obtain all redundancy bus data, and the availability of the input and output bus data is improved (the failure caused by the failure of a certain bus, the failure caused by the failure of the servo control unit connected with the bus, and the degradation caused by the system are avoided). A special data cross transmission link is designed between servo control units of the same control object (different redundancy of the same steering engine) of each channel, the design simplifies the complexity of synchronization and data cross transmission between channels of a computer, and improves the efficiency of data cross transmission between channels.
Drawings
Fig. 1 is a block diagram of the system architecture of the present application.
Fig. 2 is a data cross-transport (CDL) link diagram.
Fig. 3 is a diagram of an inter-channel data cross-transport (CCDL) link.
Detailed Description
A data cross-transmission strategy for an actuator control computer, characterized by: the strategy is based on the characteristics of redundant design of an actuator control computer, and mainly comprises the following steps: the redundancy configuration of input and output data and the redundancy configuration of a computer are different, the servo modules in the channels of the computer are mutually independent, and the data in the computer are transmitted in a cross way.
The characteristics of different input and output data redundancy configurations and computer redundancy configurations are that the redundancy configuration of partial data in the input data of the computer is higher than the redundancy configuration of the computer (if the received bus data is four redundancy and the computer is two redundancy); in the output data of the computer, the redundancy configuration of partial data is higher than that of the computer (if the transmitted bus data is four redundancy, the computer is two redundancy).
The characteristic of the servo module in each channel of the computer is that each channel in the computer at least comprises two servo control units, each servo control unit in the channel has independent functions, each servo control unit in the channel has different control objects, and each servo control unit is connected with an external independent bus.
The characteristic of data cross transmission in the computer means that the data input and output by the computer are cross-transmitted between channels and in the channels, and based on claim 2 and claim 3, the data are divided into two types according to the cross transmission requirement, one type is cross transmission among all servo control units, for example, bus data received and transmitted by each servo control unit needs all servo control units to be cross-transmitted, which is called as data cross transmission (CDL); one type is cross transmission among computer channels, and data cross transmission among servo control units of the same control object among channels (for example, two-channel data cross transmission is performed by a steering engine A control unit A and a steering engine A control unit B), which is called inter-channel data cross transmission (CCDL). The two parts of data are transmitted in a crossed way by adopting independent links.
The present application will be described in further detail below.
A data cross transmission strategy of an actuator control computer is a data cross transmission method provided by a servo control computer of a servo control system aiming at a certain complex architecture. The servo control computer is designed for two redundancy, each redundancy is provided with two servo control units, and each servo control unit is connected with one channel of the main control computer through a system bus. The servo control computer receives four-redundancy system bus data, and controls the steering engine 1 and the steering engine 2 according to feedback information of the sensor to complete closed-loop control of the control surface. The steering engine 1 and the steering engine 2 are configured with two redundancy, and the servo control computer is configured with two redundancy. The system structure block diagram is shown in fig. 1.
The working principle of the servo control computer is as follows: receiving instruction data sent by a main control computer through a system bus, collecting position feedback information of related control surfaces, calculating control surface control instructions according to the data information, sending the control surface control instructions to a control object (steering engine), and feeding back control results to the main control computer through the system bus. The computer is designed with two redundancy, so that the requirements of synchronization and data cross transmission between channels exist, the comparison and monitoring of data are realized, the fault synthesis of the computer is realized, and the like.
The data to be cross-transmitted in the working process are: the control command received by each servo control unit from the connected system bus, the control result, fault state and other data which need to be fed back to the main control computer by each servo control unit, and four redundancy mutual transmission needs to be realized; the servo control unit of the same control object of each channel acquires information such as position and state, calculated control instructions and the like, and two redundancy mutual transmission needs to be realized.
As shown in fig. 2, a dedicated CDL interface is designed to complete data cross transmission of four servo control units, and in order to reduce complexity of system design, the transmission is autonomous forwarding, that is, each servo control unit receives new bus data and then performs autonomous forwarding to the other 3 servo control units. And the servo control units autonomously forward the fed back bus data without a period, and each servo control unit sends the feedback data of the four servo control units to the main control computer after the bus period arrives. The four servo control units do not perform the forced synchronization operation. The consistency of the four-redundancy system bus data is monitored by the 4-redundancy main control computer when the four-redundancy system bus data is sent out, and each bus data is provided with a valid mark. The four servo control units select four redundancy system bus data as shown in table 1. The cross transmission method has the complexity lower than that of four-redundancy cross transmission and the data availability higher than that of two-redundancy cross transmission.
Table 1 data select logic
As shown in fig. 3. The servo control unit of the same control object of each channel acquires information such as position and state, calculated control instructions and the like, and two redundancy mutual transmission needs to be realized. The method is a standard two-redundancy data cross transmission and voting monitoring method. In each control period, the steering engine 1 control unit A and the steering engine 2 control unit B firstly synchronize, and after successful synchronization, the state data and the control instructions are transmitted in a crossed mode. By comparing and monitoring, whether the servo control unit fails or not is found, and when the servo control unit fails, the servo control unit reports the failure and processes the failure so as to realize the design requirement of primary Failure Safety (FS) of the control computer.
To sum up, the present solution is directed to an actuator control computer, which is characterized in that: the input and output buses are 4-redundancy configuration, the computer is two-redundancy (channel) configuration, each channel comprises two servo control units with independent functions, the control of different steering engines is completed, and each servo control unit is connected with the fly tube computer through an independent bus. Four redundancy cross transmission links for inputting and outputting bus data are designed so that each servo control unit can take all bus data, and data cross transmission links between servo control units with the same control object between two channels are designed so as to realize data cross transmission of dual redundancy servo control units, thereby realizing the comparison monitoring function of two redundancy. The design goal of primary Fail Safe (FS) of the system requirements is reached.
Claims (6)
1. A data cross-transfer system for an actuator control computer, the data cross-transfer system comprising two channels, each channel comprising at least two servo control units, wherein:
the N main control computers are respectively connected with each servo control unit of each corresponding channel; the N main control computers are respectively connected with N corresponding system buses; the N system buses are respectively connected with the corresponding servo control units; each servo control unit in the channel is connected with different control objects respectively; each servo control unit in the channel is used for cross-transmitting data through the inter-channel data cross-transmitting CCDL connection; all servo control units are interconnected through data cross transmission CDL;
the master control computer_A, the master control computer_B, the master control computer_C and the master control computer_D are connected with each other, wherein:
the main control computer_A is connected with a steering engine 1 control unit A of the channel CH_A through a system bus A;
the main control computer_B is connected with a steering engine 2 control unit A of the channel CH_A through a system bus B;
the main control computer_C is connected with a steering engine 1 control unit B of the channel CH_B through a system bus C;
the main control computer D is connected with a steering engine 2 control unit B of the channel CH_B through a system bus D;
master computer_a, master computer_b, master computer_c, and master computer_d cross-transfer CCDL connections via inter-channel data.
2. The data cross-transmission system of claim 1, wherein:
the steering engine 1 control unit A and the steering engine 1 control unit B are connected with the steering engine 1;
and the steering engine 2 control unit A and the steering engine 2 control unit B are connected with the steering engine 2.
3. The data cross-transmission system of claim 1, wherein:
the steering engine 1 control unit A, the steering engine 1 control unit B, the steering engine 2 control unit A and the steering engine 2 control unit B are interconnected through data cross transmission CDL.
4. The data cross-transmission system of claim 1, wherein,
the steering engine 1 control unit A and the steering engine 1 control unit B are connected through inter-channel data cross transmission CCDL and are used for cross transmission of data;
the steering engine 2 control unit A and the steering engine 2 control unit B are connected through inter-channel data cross transmission CCDL and are used for cross transmission of data.
5. The data cross-transmission system of claim 1, wherein,
the steering engine 1 control unit A and the steering engine 1 control unit B are connected through SYNC and used for synchronization;
the steering engine 2 control unit A and the steering engine 2 control unit B are connected through SYNC and used for synchronization.
6. The data cross-transfer system of claim 1 wherein each servo control unit in the channel is connected to a flap, aileron, horizontal tail, vertical tail, rudder, and front wheel steering, respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011223795.4A CN112644690B (en) | 2020-11-05 | 2020-11-05 | Data cross transmission system of actuator control computer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011223795.4A CN112644690B (en) | 2020-11-05 | 2020-11-05 | Data cross transmission system of actuator control computer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112644690A CN112644690A (en) | 2021-04-13 |
| CN112644690B true CN112644690B (en) | 2023-10-20 |
Family
ID=75346951
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011223795.4A Active CN112644690B (en) | 2020-11-05 | 2020-11-05 | Data cross transmission system of actuator control computer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112644690B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115903578A (en) * | 2022-10-26 | 2023-04-04 | 中国航空工业集团公司西安航空计算技术研究所 | Electromechanical management subsystem fault-tolerant design method based on hybrid redundancy heterogeneous network |
| CN115941810A (en) * | 2022-10-26 | 2023-04-07 | 中国航空工业集团公司西安航空计算技术研究所 | Data processing channel |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5642359A (en) * | 1993-06-02 | 1997-06-24 | Ibm Corporation | Multiplexing device for a redundant channel bus |
| CN101609329A (en) * | 2008-06-19 | 2009-12-23 | 北京航空航天大学 | A kind of high-performance tri-redundancy steering engine based on single-channel dual-processor structure |
| CN104375510A (en) * | 2014-10-09 | 2015-02-25 | 中国运载火箭技术研究院 | Cross transmission method suitable for spacecraft attitude control electromechanical system |
| CN105608039A (en) * | 2015-12-10 | 2016-05-25 | 中国航空工业集团公司西安航空计算技术研究所 | FIFO and ARINC659 bus based dual-redundancy computer period control system and method |
| CN107608381A (en) * | 2017-09-30 | 2018-01-19 | 江西洪都航空工业集团有限责任公司 | A kind of fly-by-wire flight control system control framework for mixing redundant configurations |
| CN108616435A (en) * | 2016-12-12 | 2018-10-02 | 中国航空工业集团公司西安航空计算技术研究所 | Double redundant system data transmission methods based on high-speed serial bus |
-
2020
- 2020-11-05 CN CN202011223795.4A patent/CN112644690B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5642359A (en) * | 1993-06-02 | 1997-06-24 | Ibm Corporation | Multiplexing device for a redundant channel bus |
| CN101609329A (en) * | 2008-06-19 | 2009-12-23 | 北京航空航天大学 | A kind of high-performance tri-redundancy steering engine based on single-channel dual-processor structure |
| CN104375510A (en) * | 2014-10-09 | 2015-02-25 | 中国运载火箭技术研究院 | Cross transmission method suitable for spacecraft attitude control electromechanical system |
| CN105608039A (en) * | 2015-12-10 | 2016-05-25 | 中国航空工业集团公司西安航空计算技术研究所 | FIFO and ARINC659 bus based dual-redundancy computer period control system and method |
| CN108616435A (en) * | 2016-12-12 | 2018-10-02 | 中国航空工业集团公司西安航空计算技术研究所 | Double redundant system data transmission methods based on high-speed serial bus |
| CN107608381A (en) * | 2017-09-30 | 2018-01-19 | 江西洪都航空工业集团有限责任公司 | A kind of fly-by-wire flight control system control framework for mixing redundant configurations |
Non-Patent Citations (2)
| Title |
|---|
| ARINC659总线多余度容错系统同步技术;李育;安刚;李欣;;航空科学技术(第12期);第28-33页 * |
| 李育 ; 安刚 ; 李欣 ; .ARINC659总线多余度容错系统同步技术.航空科学技术.2016,(第12期),第28-33页. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112644690A (en) | 2021-04-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112644690B (en) | Data cross transmission system of actuator control computer | |
| US9540096B2 (en) | Fly-by-wire flight control system and method | |
| CN110361979B (en) | Safety computer platform in railway signal field | |
| US7017861B1 (en) | Control system for actuators in an aircraft | |
| CN110376876B (en) | Double-system synchronous safety computer platform | |
| CN104669268B (en) | A kind of redundancy underwater robot self-control system based on Hot Spare and method | |
| CN107967194B (en) | Safety computer system based on redundant Ethernet | |
| EP1942054B1 (en) | A method, an electrical system, a digital control module, and an actuator control module in a vehicle | |
| CN104199440B (en) | Four-unit three-bus redundancy heterogeneous GNC (guidance navigation control) system | |
| CN109733301A (en) | Vehicle redundant bus system and its control method | |
| CN110710164A (en) | Flight control system | |
| CN112498664A (en) | Flight control system and flight control method | |
| US20080066981A1 (en) | Plastic optical fiber network for electronic control units and power electronics in by-wire vehicles | |
| US10386832B2 (en) | Redundant control system for an actuator and method for redundant control thereof | |
| CN111694304A (en) | Comprehensive fault logic decision circuit and method for spacecraft | |
| CN108983682B (en) | Redundancy voting control method based on double buses | |
| CN105550077B (en) | A kind of Standby control system | |
| CN112445751B (en) | Computer host interface board suitable for multi-mode redundant system | |
| CN112346330B (en) | Servo control computer with complex fault-tolerant structure | |
| CN109306875A (en) | A kind of synchronous hot backup redundancy switching device of steam turbine DEH dual controller and method | |
| CN115556924A (en) | Flight control system and actuator control electronics and method | |
| CN112346332A (en) | Fault-tolerant control system of underwater unmanned vehicle | |
| US20230347929A1 (en) | Vehicle control system with interface between data processing paths | |
| CN113312094B (en) | Multi-core processor application system and method for improving reliability thereof | |
| CN112307696B (en) | 100% reliability parallel structure without output conflict |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |