CN113741281A - Method for realizing software architecture of open reconfigurable flight control system - Google Patents
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Abstract
The invention provides an open reconfigurable flight control system software architecture implementation method, which comprises the steps of obtaining mission task information according to mission task instructions of an aircraft task interaction node, configured flight control algorithm components and task load nodes; dynamically loading, reconstructing and arranging algorithm components according to requirements or receiving algorithm components input by a user through task scheduling middleware according to mission task information to realize reconstruction scheduling of open flight control system software; and responding to the mission task information, the algorithm component and the system information obtained by the measuring node, executing the algorithm component at the computing node, generating a flight control instruction, sending the flight control instruction to the executing mechanism node, and executing the corresponding flight control instruction. The invention can realize the decoupling of software and hardware, dynamic self-adaptive reconstruction and modular design of a flight control system, not only supports the redefinition of the task function of the aircraft, but also can achieve the aims of system upgrading, performance improvement and cost reduction in the life cycle of the aircraft.
Description
Technical Field
The invention relates to the technical field of flight control, in particular to an implementation method of an open reconfigurable flight control system software architecture for an aircraft.
Background
The current flight control system is generally a hierarchical loop type control system architecture, algorithm software of the flight control system is designed for specific tasks, algorithm execution logic is fixed, the software and hardware are tightly coupled, the hardware is difficult to interchange, software reuse rate is low, expansion is difficult, and upgrading cost is high. The flight control systems for realizing the specific task function all need a whole set of flight control hardware and software, wherein the hardware mainly comprises a task load, a sensor, a data bus, an execution mechanism and a flight control computer; the software mainly comprises an operation interface, a navigation algorithm, a guidance algorithm, a control algorithm, a flight management algorithm and the like. If more mission tasks are to be accomplished, the entire aircraft may need to be upgraded, loaded with new or more mission loads, and the flight control system software developed. Resulting in high development costs and multiple aircraft models, increasing the difficulty and cost of managing operations and maintenance.
Along with the rapid development of artificial intelligence technology in recent years, the research in the aspect of flight control technology facing intelligent autonomous tasks is also highly emphasized by the nation and the industry, and meanwhile, the system hardware is rapidly upgraded, the intelligent-based task decision, the comprehensive flight management, the model-based control and the advanced health management technology become the development trend of the advanced flight control technology in the future. Therefore, in order to adapt to future-oriented and constantly-changing intelligent autonomous tasks, a novel flight control system architecture needs to be designed.
Disclosure of Invention
In order to solve the problems in the prior art and overcome the defects in the prior art, the invention provides an implementation method of an open reconfigurable flight control system software architecture, which realizes distributed computation and modular design of a control system, supports plug and play of a plurality of functional modules, and dynamically loads algorithm components as required, so that the functions of an aircraft can be conveniently redefined through a software algorithm, different aircraft can share a flight control component and part or all of the functional module components, and the aims of performance improvement and cost reduction are fulfilled.
The technical scheme of the invention is as follows:
the method for realizing the software architecture of the open reconfigurable flight control system comprises the following steps:
step 1: acquiring mission task information corresponding to the mission task instruction according to the mission task instruction of the aircraft task interaction node, the configured flight control algorithm component and the task load node;
step 2: according to the mission task information obtained in the step 1, dynamically loading, reconstructing and arranging algorithm components according to needs through intelligent and evolvable task scheduling middleware in the flight control system, or receiving algorithm components input by a user, so as to realize reconstruction and scheduling of open type flight control system software;
and step 3: responding to mission task information, the programmed algorithm component and system information obtained by the measuring node, executing the algorithm component at the computing node, and generating a flight control instruction corresponding to the mission task instruction;
and 4, step 4: and 3, sending the flight control command generated in the step 3 to an executing mechanism node, so that the aircraft can execute the flight control command corresponding to the mission task information.
Further, in step 1, mission task instructions of the aircraft mission interaction node include, but are not limited to, pilot-aircraft interaction instructions of a piloted aircraft, ground station remote control instructions or autonomous mission instructions of an unmanned aircraft, and interaction instructions of a cluster flight mission of the aircraft.
Further, in step 1, the configured flight control algorithm component comprises functional modules of data fusion, situation awareness, task planning, navigation positioning, target tracking, path planning, cooperative guidance, control execution and fault tolerance; the flight control algorithm component is a flight control algorithm component with a modular function, and can contain subassemblies, wherein the subassemblies can perform independent subfunctions or are different types of algorithm components with the same function.
Further, in step 1, the task load node is a device which is matched with the mission task instruction and can complete the mission task; the mission load node integrates the mission command and the flight control algorithm component, and mission task information corresponding to the mission command can be obtained.
Further, in step 1, the mission information is dynamic process information for executing the entire mission, which is generated according to the mission, external situation, system state change, and flight control algorithm component.
Further, in step 2, the task scheduling middleware can dynamically load, unload, schedule and configure the flight control algorithm component according to the availability and mission task information of the flight control algorithm component resource; the task scheduling middleware has intelligent and evolvable functions, can reconstruct algorithm components according to performance optimization in the task execution process, and is adaptive to task efficiency; the task scheduling middleware can receive a specific task scheduling process programmed by a user and schedule a corresponding flight control algorithm component.
Further, in step 3, the programmed algorithm component includes, but is not limited to, one of data fusion, situation awareness, mission planning, navigation positioning, target tracking, path planning, cooperative guidance, control execution, fault tolerance algorithm component, or a combination of these algorithm components.
Further, in step 3, the measurement node is a system information measurement device carried by the aircraft, including but not limited to an IMU, a GPS, a velocity, an atmospheric measurement system device, and a combination thereof.
Further, in step 3, the computing node is an electronic computing device including a processor and a memory, and the computing node executes the algorithm component in response to the mission task information, the programmed algorithm component and the system information obtained by the measurement node, and generates a flight control command corresponding to the mission task command.
Further, in step 4, the executing mechanism node is a power system and an operating mechanism of an aircraft control surface; and sending the flight control instruction to an executing mechanism node, so that the aircraft can execute the flight control instruction corresponding to the mission task information to carry out the mission task.
The open type reconfigurable flight control system is different from the traditional hierarchical control 'loop' concept, and the concept of the open type flight control system extends to the task level of the top layer and also comprises the functions of interaction, perception, decision, supervision, planning, execution, cooperation, optimization and the like. And different (sub) functional algorithm components adopt standardized interfaces, and execute load balancing on different CPUs and threads according to CPU computing power through intelligent scheduling of middleware. On the basis of an open system architecture, plug and play of the access component and flight control system software can be ensured through a unified and standardized interface, and information interaction and task cooperation with other components are realized.
Advantageous effects
The invention can realize the decoupling of software and hardware, dynamic self-adaptive reconstruction and modular design of a flight control system, not only supports the redefinition of the task function of the aircraft, has the characteristics of openness, easy expansion and the like, but also can achieve the aims of system upgrading, performance improvement and cost reduction in the life cycle of the aircraft.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic flight control flow diagram of an open flight control system software architecture according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of an open flight control system software architecture according to an embodiment of the present invention.
FIG. 3 is a schematic diagram illustrating algorithm component scheduling in manned flight missions in an embodiment of the present invention.
FIG. 4 is a schematic diagram illustrating algorithm component scheduling in an unmanned aerial vehicle mission in an embodiment of the present invention.
Fig. 5 is a schematic diagram of computing load balancing scheduling of distributed computing in the embodiment of the present invention.
Detailed Description
As can be seen from the background art, the current flight control system is generally a hierarchical loop type control system architecture, and its algorithm software is designed for a specific task, the algorithm execution logic is fixed, and the software and hardware are tightly coupled, which results in lack of flexibility of the system, low software reuse rate, difficult expansion and high upgrade cost.
In order to solve the problem of the prior art, the embodiment of the invention provides an implementation method of an open reconfigurable flight control system software architecture. The invention is further illustrated by the following specific figures and examples.
The basic idea of the invention is to modularize and modularize the algorithm of the flight control system, adopt an open system architecture, the architecture is composed of modularized algorithm components, the components are loosely coupled, and through a standardized data interface, the system can support the plug and play of the algorithm components in an open manner, thereby realizing function expansion and system evolution.
Therefore, the method for realizing the software architecture of the open reconfigurable flight control system provided by the invention realizes the distributed calculation and the modular design of the control system, supports the plug and play of a plurality of functional modules, dynamically loads the algorithm components as required, can conveniently redefine the functions of the aircraft through the software algorithm, enables different aircraft to share the flight control components and part or all functional module components, and achieves the aims of improving the performance and reducing the cost.
Fig. 1 is a flight control flow diagram of an open flight control system software architecture according to an embodiment of the present invention, where the open flight control system software architecture includes at least one plug-and-play task function algorithm component.
The software architecture composition is as shown in fig. 2, and comprises an environment layer, an algorithm layer, a management layer and an application layer, wherein the environment layer comprises a model library, a bottom layer driver, an auxiliary tool and an operating system, and the algorithm layer is a flight control algorithm component with a modular function; the management layer is composed of middleware, and the application layer is different application tasks.
The flight control method of the open flight control system software architecture can comprise the following steps:
step 1: acquiring mission task information corresponding to the mission task instruction according to the mission task instruction of the aircraft task interaction node, the configured flight control algorithm component and the task load node;
the mission task instruction of the aircraft task interaction node includes, but is not limited to, a pilot-aircraft interaction instruction of a piloted aircraft, a ground station remote control instruction or an autonomous task instruction of an unmanned aircraft, and an interaction instruction of a cluster flight task of the aircraft, and as shown in fig. 3 and 4, schematic diagrams of the piloted task and the unmanned task are respectively given.
The configured flight control algorithm component comprises functional modules of data fusion, situation perception, task planning, navigation positioning, target tracking, path planning, cooperative guidance, control execution, fault tolerance and the like; the basic idea of the invention is to modularize and modularize the flight control algorithm of the flight control system, and these flight control algorithm components with modular functions can also contain subassemblies, which can fulfill independent sub-functions.
The task load node is a device which is matched with the mission task instruction and can complete the mission task; the mission load node integrates the mission command and the flight control algorithm component, and mission information corresponding to the mission command can be acquired.
And the mission task information is dynamic process information for executing the whole mission task, which is generated according to the mission task, external situation, system state change and a flight control algorithm component.
Step 2: and (3) dynamically loading, reconstructing and arranging algorithm components according to needs or receiving algorithm components input by a user through intelligent and evolvable task scheduling middleware in the flight control system according to mission task information acquired in the step (1), and reconstructing and scheduling open type flight control system software.
As shown in fig. 3, 4 and 5, the task scheduling middleware can dynamically load, unload, schedule and configure the flight control algorithm component according to the availability of the flight control algorithm component resource and mission information; the task scheduling middleware has intelligent and evolvable functions, can reconstruct algorithm components according to performance optimization in the task execution process, and is adaptive to task efficiency; and the task scheduling middleware can also receive a specific task scheduling process programmed by a user and schedule a corresponding flight control algorithm component.
And step 3: responding to mission task information, the programmed algorithm component and system information obtained by the measuring node, executing the algorithm component at the computing node, and generating a flight control instruction corresponding to the mission task instruction;
the programmed algorithm components include, but are not limited to, one of data fusion, situation awareness, mission planning, navigation positioning, target tracking, path planning, cooperative guidance, control execution, fault tolerance algorithm components, or a combination of these algorithm components, such as the algorithm components included in the algorithm layer in fig. 2.
And the measuring node is system information measuring equipment carried by the aircraft, including but not limited to IMU, GPS, speed, atmosphere measuring system equipment and combination thereof. Further, the computing node is an electronic computing device comprising a processor and a memory.
And 4, step 4: and 3, sending the flight control command generated in the step 3 to an executing mechanism node, so that the aircraft can execute the flight control command corresponding to the mission task information. The executing mechanism nodes are control mechanisms of a power system and an aircraft control surface; and sending the flight control instruction to an executing mechanism node, so that the aircraft can execute the flight control instruction corresponding to the mission task information to carry out the mission task.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.
Claims (10)
1. An implementation method of an open reconfigurable flight control system software architecture is characterized in that: the method comprises the following steps:
step 1: acquiring mission task information corresponding to the mission task instruction according to the mission task instruction of the aircraft task interaction node, the configured flight control algorithm component and the task load node;
step 2: according to the mission task information obtained in the step 1, dynamically loading, reconstructing and arranging algorithm components according to needs through intelligent and evolvable task scheduling middleware in the flight control system, or receiving algorithm components input by a user, so as to realize reconstruction and scheduling of open type flight control system software;
and step 3: responding to mission task information, the programmed algorithm component and system information obtained by the measuring node, executing the algorithm component at the computing node, and generating a flight control instruction corresponding to the mission task instruction;
and 4, step 4: and 3, sending the flight control command generated in the step 3 to an executing mechanism node, so that the aircraft can execute the flight control command corresponding to the mission task information.
2. The method of claim 1, wherein the method comprises: in step 1, mission task instructions of the aircraft mission interaction node include, but are not limited to, pilot-aircraft interaction instructions of a piloted aircraft, ground station remote control instructions or autonomous mission instructions of an unmanned aircraft, and interaction instructions of a cluster flight mission of the aircraft.
3. The method of claim 1, wherein the method comprises: in the step 1, the configured flight control algorithm component comprises data fusion, situation awareness, task planning, navigation positioning, target tracking, path planning, cooperative guidance, control execution and fault tolerance function modules; the flight control algorithm component is a flight control algorithm component with modular functionality, and can contain subassemblies that are capable of performing independent sub-functions.
4. The method of claim 1, wherein the method comprises: in step 1, the task load node is a device which is matched with the mission task instruction and can complete the mission task; the mission load node integrates the mission command and the flight control algorithm component, and mission task information corresponding to the mission command can be obtained.
5. The method of claim 1, wherein the method comprises: in step 1, the mission information is dynamic process information for executing the whole mission, which is generated according to the mission, external situation, system state change and a flight control algorithm component.
6. The method for implementing the software architecture of the open reconfigurable flight control system according to claim 1 or 3, characterized in that: in step 2, the task scheduling middleware can dynamically load, unload, schedule and configure the flight control algorithm component according to the availability and mission task information of the flight control algorithm component resource; the task scheduling middleware has intelligent and evolvable functions, can reconstruct algorithm components according to performance optimization in the task execution process, and is adaptive to task efficiency; the task scheduling middleware can receive a specific task scheduling process programmed by a user and schedule a corresponding flight control algorithm component.
7. The method of claim 3, wherein the software architecture of the open reconfigurable flight control system is implemented as follows: in step 3, the programmed algorithm component includes, but is not limited to, one of data fusion, situation awareness, task planning, navigation positioning, target tracking, path planning, cooperative guidance, control execution, fault tolerance algorithm component, or a combination of these algorithm components.
8. The method of claim 1, wherein the method comprises: in step 3, the measurement node is a system information measurement device carried by the aircraft, including but not limited to an IMU, a GPS, a speed, an atmospheric measurement system device, and a combination thereof.
9. The method of claim 1, wherein the method comprises: in step 3, the computing node is an electronic computing device comprising a processor and a memory, and the computing node responds to mission task information, the programmed algorithm component and system information obtained by the measuring node, executes the algorithm component, and generates a flight control instruction corresponding to the mission task instruction.
10. The method of claim 1, wherein the method comprises: in step 4, the executing mechanism nodes are control mechanisms of a power system and an aircraft control surface; and sending the flight control instruction to an executing mechanism node, so that the aircraft can execute the flight control instruction corresponding to the mission task information to carry out the mission task.
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