CN113467318A - Discrete signal output system and method for unmanned aerial vehicle airplane management computer - Google Patents
Discrete signal output system and method for unmanned aerial vehicle airplane management computer Download PDFInfo
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- CN113467318A CN113467318A CN202110819818.6A CN202110819818A CN113467318A CN 113467318 A CN113467318 A CN 113467318A CN 202110819818 A CN202110819818 A CN 202110819818A CN 113467318 A CN113467318 A CN 113467318A
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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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Abstract
The invention provides a discrete signal output system and a method for an unmanned aerial vehicle airplane management computer, wherein the system comprises a discrete output circuit, a discrete output extraction circuit, a multi-path discrete signal check output circuit and an output signal monitoring module; the discrete signal check output circuit comprises a check circuit and three discrete output registers; the output ends of the three discrete output registers are connected with the input end of the checking circuit; the output end of the checking circuit is connected with the output signal monitoring module after passing through the discrete output circuit and the discrete output extraction circuit on one hand, and is directly connected with the output signal monitoring module on the other hand. The invention can prevent the discrete output register from turning over, ensure the correctness of the output discrete signal, realize the working state judgment and fault positioning and report the corresponding disposal of the unmanned aerial vehicle airplane management computer.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle airplane management computers, in particular to a discrete signal output method of an unmanned aerial vehicle airplane management computer.
Background
The discrete signal of the drone is a level signal with 0/1 status, usually some more important status instructions. The unmanned plane airplane management computer sends the state instruction to various devices of the airplane through the discrete signal output unit.
The conventional discrete output method is to store the discrete signal to be output into a hardware register and output the discrete signal by a conventional discrete output circuit. Some improved methods can also collect the result output by real hardware and confirm whether the discrete output work is normal. The above method has several problems:
(1) the hardware register may have a value flip (i.e. 0/1 flip), resulting in an incorrect output result;
(2) when the collected real discrete output signal is inconsistent with the discrete signal to be output, it cannot be determined whether the signal is caused by the register or the output circuit.
Disclosure of Invention
The invention aims to provide a discrete signal output method for an unmanned aerial vehicle airplane management computer, so as to solve the technical problem.
The invention provides a discrete signal output system of an unmanned aerial vehicle airplane management computer, which comprises a discrete output circuit, a discrete output extraction circuit, a multi-path discrete signal check output circuit and an output signal monitoring module, wherein the discrete output circuit is connected with the discrete output extraction circuit;
the discrete signal check output circuit comprises a check circuit and three discrete output registers; the output ends of the three discrete output registers are connected with the input end of the checking circuit; the output end of the checking circuit is connected with the output signal monitoring module after passing through the discrete output circuit and the discrete output extraction circuit on one hand, and is directly connected with the output signal monitoring module on the other hand.
Furthermore, the multi-path discrete signal check output circuit is realized by adopting an FPGA.
The invention also provides an unmanned aerial vehicle airplane management computer discrete signal output method, which is realized by adopting the unmanned aerial vehicle airplane management computer discrete signal output system and comprises the following steps:
step S10, inputting expected discrete output signals to the three discrete output registers and the output signal monitoring module;
step S20, outputting discrete output values to the check circuit by the three discrete output registers;
step S30, the check circuit checks the discrete output values of the three discrete output registers and outputs check discrete output signals to the discrete output circuit and the output signal monitoring module according to the check result;
step S40, the discrete output circuit receives the check discrete output signal and outputs a discrete signal;
step S50, the discrete output extraction circuit collects the discrete signal output by the discrete output circuit and outputs the extraction discrete output signal to the output signal monitoring module;
and step S60, the output signal monitoring module judges the working state and locates the fault according to the expected discrete output signal, the check discrete output signal and the recovery discrete output signal.
Further, step S31 includes the following sub-steps:
in step S31, the check circuit checks the discrete output values of the three discrete output registers:
(1) if the discrete output values of the three discrete output registers are completely the same, taking the completely same discrete output value as a verification discrete output signal;
(2) if the discrete output values of two discrete output registers in the discrete output values of the three discrete output registers are the same, taking the discrete output values of the two same discrete output registers as check discrete output signals;
and step S32, outputting the verified discrete output signals to the discrete output circuit and the output signal monitoring module respectively.
Further, step S60 includes the following sub-steps:
step S61, if the expected discrete output signal, the check discrete output signal and the extraction discrete output signal are consistent, the discrete signal output system works normally; otherwise, the discrete signal output system is not normal;
and step S62, when the discrete signal output system works abnormally, fault location is carried out.
Further, the method for locating the fault in step S62 includes:
(1) if the expected discrete output signal is inconsistent with the verification discrete output signal, the register fails or the multi-path discrete signal verification output circuit fails;
(2) and if the discrete output signal is not consistent with the extraction discrete output signal, the discrete output circuit or the discrete output extraction circuit is in fault.
Further, the unmanned aerial vehicle airplane management computer discrete signal output method further comprises the following steps:
step S70, the output signal monitoring module transmits the working state judgment and fault positioning results back to the unmanned plane airplane management computer in real time; the unmanned aerial vehicle airplane management computer performs automatic fault handling, recording and/or ground downloading on the generated faults.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. the invention can prevent the discrete output registers from overturning and ensure the correctness of the output discrete signals by checking the discrete output of the three discrete output registers and then outputting the check discrete output signals.
2. The invention monitors the expected discrete output signal, the check discrete output signal and the recovery discrete output signal in real time, and can realize the judgment of the working state and the fault location.
3. The invention can realize corresponding disposal of the working state and the fault condition of the discrete signal output system to the unmanned aerial vehicle airplane management computer.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic diagram of a discrete signal output system of an unmanned aerial vehicle airplane management computer of the present invention.
Fig. 2 is a flowchart of a discrete signal output method of an unmanned aerial vehicle airplane management computer according to embodiment 1 of the present invention.
Fig. 3 is a flowchart of a method for outputting a discrete signal by an unmanned aerial vehicle airplane management computer according to embodiment 2 of the present invention.
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.
Example 1
As shown in fig. 1, the present embodiment provides an unmanned aerial vehicle aircraft management computer discrete signal output system, which includes a discrete output circuit, a discrete output extraction circuit, a multi-channel discrete signal verification output circuit, and an output signal monitoring module; the discrete signal check output circuit comprises a check circuit and three discrete output registers; the output ends of the three discrete output registers are connected with the input end of the checking circuit; the output end of the checking circuit is connected with the output signal monitoring module after passing through the discrete output circuit and the discrete output extraction circuit on one hand, and is directly connected with the output signal monitoring module on the other hand.
As shown in fig. 2, according to the discrete signal output system of the unmanned aerial vehicle airplane management computer, the embodiment realizes a discrete signal output method of the unmanned aerial vehicle airplane management computer, which includes the following steps:
step S10, inputting expected discrete output signals to the three discrete output registers and the output signal monitoring module; in this embodiment, the multi-path discrete signal check output circuit is implemented by using an FPGA, and for three discrete output registers, an enable register is used to sequentially write desired discrete output signals into the three discrete output registers. The output signal monitoring module can be implemented by software. Wherein the desired discrete output signals input into the three discrete output registers and the output signal monitoring module have the same value.
In step S20, the three discrete output registers output discrete output values to the check circuit.
And step S30, the checking circuit checks the discrete output values of the three discrete output registers and outputs checking discrete output signals to the discrete output circuit and the output signal monitoring module respectively according to the checking result. Specifically, the method comprises the following steps:
in step S31, the check circuit checks the discrete output values of the three discrete output registers:
(1) if the discrete output values of the three discrete output registers are completely the same, taking the completely same discrete output value as a verification discrete output signal;
(2) if the discrete output values of two discrete output registers in the discrete output values of the three discrete output registers are the same, taking the discrete output values of the two same discrete output registers as check discrete output signals;
and step S32, outputting the verified discrete output signals to the discrete output circuit and the output signal monitoring module respectively. Therefore, the discrete output registers are subjected to verification and then the verification discrete output signals are output, so that the discrete output registers can be prevented from being overturned, and the correctness of the output discrete signals is ensured.
In step S40, the discrete output circuit outputs a discrete signal after receiving the verification discrete output signal. The discrete output circuit is a conventional discrete output circuit, and is not described herein again.
And step S50, the discrete output extraction circuit collects the discrete signals output by the discrete output circuit and outputs the extraction discrete output signals to the output signal monitoring module. The discrete output stoping circuit is a conventional discrete output stoping circuit, and is not described herein again.
And step S60, the output signal monitoring module judges the working state and locates the fault according to the expected discrete output signal, the check discrete output signal and the recovery discrete output signal. Specifically, the method comprises the following steps: step S61, if the expected discrete output signal, the check discrete output signal and the extraction discrete output signal are consistent, the discrete signal output system works normally; otherwise, the discrete signal output system is not normal;
and step S62, when the discrete signal output system works abnormally, fault location is carried out. The method for fault positioning comprises the following steps:
(1) if the expected discrete output signal is inconsistent with the verification discrete output signal, the register fails or the multi-path discrete signal verification output circuit fails;
(2) and if the discrete output signal is not consistent with the extraction discrete output signal, the discrete output circuit or the discrete output extraction circuit is in fault.
Therefore, the invention carries out real-time monitoring on the expected discrete output signal, the check discrete output signal and the recovery discrete output signal, and can realize working state judgment and fault positioning.
Example 2
As shown in fig. 3, on the basis of embodiment 1, the method for outputting discrete signals by an airplane management computer of a drone includes the following steps:
step S10, inputting expected discrete output signals to the three discrete output registers and the output signal monitoring module;
step S20, outputting discrete output values to the check circuit by the three discrete output registers;
step S30, the check circuit checks the discrete output values of the three discrete output registers and outputs check discrete output signals to the discrete output circuit and the output signal monitoring module according to the check result;
step S40, the discrete output circuit receives the check discrete output signal and outputs a discrete signal;
step S50, the discrete output extraction circuit collects the discrete signal output by the discrete output circuit and outputs the extraction discrete output signal to the output signal monitoring module;
step S60, the output signal monitoring module judges the working state and locates the fault according to the expected discrete output signal, the check discrete output signal and the recovery discrete output signal;
step S70, the output signal monitoring module transmits the working state judgment and fault positioning results back to the unmanned plane airplane management computer in real time; the unmanned aerial vehicle airplane management computer performs automatic fault handling, recording and/or ground downloading on the generated faults. Therefore, the invention can realize corresponding treatment on the working state of the discrete signal output system and the failure condition reporting unmanned aerial vehicle airplane management computer. Wherein, steps S10 to S60 are the same as those in embodiment 1, and are not repeated herein.
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.
Claims (7)
1. A discrete signal output system of an unmanned plane airplane management computer comprises a discrete output circuit and a discrete output extraction circuit, and is characterized by further comprising a multi-path discrete signal check output circuit and an output signal monitoring module;
the discrete signal check output circuit comprises a check circuit and three discrete output registers; the output ends of the three discrete output registers are connected with the input end of the checking circuit; the output end of the checking circuit is connected with the output signal monitoring module after passing through the discrete output circuit and the discrete output extraction circuit on one hand, and is directly connected with the output signal monitoring module on the other hand.
2. The unmanned aerial vehicle aircraft management computer discrete signal output system of claim 1, wherein the plurality of discrete signal verification output circuits are implemented using an FPGA.
3. An unmanned aerial vehicle airplane management computer discrete signal output method, which is implemented by the unmanned aerial vehicle airplane management computer discrete signal output system according to claim 1 or 2, and comprises the following steps:
step S10, inputting expected discrete output signals to the three discrete output registers and the output signal monitoring module;
step S20, outputting discrete output values to the check circuit by the three discrete output registers;
step S30, the check circuit checks the discrete output values of the three discrete output registers and outputs check discrete output signals to the discrete output circuit and the output signal monitoring module according to the check result;
step S40, the discrete output circuit receives the check discrete output signal and outputs a discrete signal;
step S50, the discrete output extraction circuit collects the discrete signal output by the discrete output circuit and outputs the extraction discrete output signal to the output signal monitoring module;
and step S60, the output signal monitoring module judges the working state and locates the fault according to the expected discrete output signal, the check discrete output signal and the recovery discrete output signal.
4. The unmanned aerial vehicle aircraft management computer discrete signal output method of claim 3, wherein step S31 includes the sub-steps of:
in step S31, the check circuit checks the discrete output values of the three discrete output registers:
(1) if the discrete output values of the three discrete output registers are completely the same, taking the completely same discrete output value as a verification discrete output signal;
(2) if the discrete output values of two discrete output registers in the discrete output values of the three discrete output registers are the same, taking the discrete output values of the two same discrete output registers as check discrete output signals;
and step S32, outputting the verified discrete output signals to the discrete output circuit and the output signal monitoring module respectively.
5. The unmanned aerial vehicle aircraft management computer discrete signal output method of claim 3, wherein step S60 includes the sub-steps of:
step S61, if the expected discrete output signal, the check discrete output signal and the extraction discrete output signal are consistent, the discrete signal output system works normally; otherwise, the discrete signal output system is not normal;
and step S62, when the discrete signal output system works abnormally, fault location is carried out.
6. The unmanned aerial vehicle aircraft management computer discrete signal output method of claim 5, wherein the fault location in step S62 is performed by:
(1) if the expected discrete output signal is inconsistent with the verification discrete output signal, the register fails or the multi-path discrete signal verification output circuit fails;
(2) and if the discrete output signal is not consistent with the extraction discrete output signal, the discrete output circuit or the discrete output extraction circuit is in fault.
7. The unmanned aerial vehicle aircraft management computer discrete signal output method of claim 3, further comprising:
step S70, the output signal monitoring module transmits the working state judgment and fault positioning results back to the unmanned plane airplane management computer in real time; the unmanned aerial vehicle airplane management computer performs automatic fault handling, recording and/or ground downloading on the generated faults.
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Application publication date: 20211001 |