CN113867127A - Redundancy framework bus of unmanned chariot control system - Google Patents
Redundancy framework bus of unmanned chariot control system Download PDFInfo
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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
- G05B9/00—Safety arrangements
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- G05B9/03—Safety arrangements electric with multiple-channel loop, i.e. redundant control systems
Abstract
A redundant framework bus of an unmanned fighting vehicle control system comprises a heterogeneous redundant framework main trunk bus consisting of a CAN bus and a time trigger bus, the unmanned fighting vehicle control system is divided into a plurality of functional blocks, each functional block is provided with a functional branch bus by a functional controller, the functional branch bus adopts a heterogeneous redundant framework consisting of the CAN bus and the time trigger bus, the functional block branch bus is connected with the main trunk bus through the CAN bus and a time trigger bus interface, priority tasks are undertaken by the time trigger bus in normal work, general tasks are undertaken by the CAN bus, key information and instructions are automatically backed up or issued by double buses, when 1 bus fails, the normally-working bus undertakes all bus data and instructions until the failed bus returns to normal. Under the condition that a single branch fails, the data of the failed branch is automatically shielded, and the normal operation of the system is ensured so as to meet the requirements of high safety and high reliability.
Description
Technical Field
The invention relates to the technical field of information buses, in particular to a redundant framework bus of an unmanned combat tank control system.
Background
At present, unmanned combat vehicles in main countries in the world are rapidly developed, and have the support and operation capabilities of quick maneuvering, remote reconnaissance, information processing, mine clearance and fire fighting and the like. The unmanned combat tank control system is an important component of the unmanned combat tank, the performance of the unmanned combat tank is directly determined by a data bus architecture adopted by the unmanned combat tank control system, particularly, the current unmanned combat tank control system adopts a distributed comprehensive modular electronic system, and a traditional control system architecture bus cannot meet the index requirements of bus time certainty, multiple redundancy, high fault tolerance, combinability, survivability, high bandwidth and the like, so that the performance of gun towers and weapon station fire control systems is restricted, and the survival rate of a battlefield is further reduced. Especially, the unmanned combat vehicle bus in the future must have more functions, better adaptability, higher reliability and stronger survivability.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a redundant framework bus of an unmanned combat tank control system, which is realized by the following technical scheme:
the redundancy frame bus of the unmanned fighting vehicle control system is characterized in that a heterogeneous redundancy frame trunk bus consisting of a CAN bus and a time trigger bus is adopted, the unmanned fighting vehicle control system is divided into a plurality of function blocks according to functions, a system framework in each function block is constructed by a function controller to construct a function branch bus, the function branch bus also adopts a heterogeneous redundancy frame consisting of the CAN bus and the time trigger bus, the function block branch bus is connected with the trunk bus through a CAN bus and a time trigger bus interface, bus data and instruction tasks are divided into priority tasks and general tasks, the priority tasks are born by the time trigger bus in normal work, the general tasks are born by the CAN bus, key information and instructions are automatically backed up or issued by double buses, when 1 bus has a fault, the normally working bus bears all bus data and instructions, until the failing bus returns to normal. The redundant framework bus of the unmanned combat tank control system ensures that the system automatically shields the data of the fault branch when a single branch fails, and ensures that the system can still normally operate so as to meet the requirements of high safety and high reliability.
The heterogeneous redundant framework trunk bus consists of a CAN bus and a time trigger bus and is characterized in that bus data and instruction tasks are divided into priority tasks and general tasks, the priority tasks are borne by the time trigger bus in normal work, the general tasks are borne by the CAN bus, and key information is automatically backed up by the double buses; the bus diagnoser double buses monitor and judge, when 1 bus is monitored to have a fault, the bus diagnoser sends a report main controller through a normal bus, and simultaneously sends task switching instructions to the vehicle control unit, the gun control unit, the autonomous unit and the auxiliary unit, and the normally working bus bears all bus data and instructions until the fault bus returns to normal.
The branch bus in the functional block consists of a CAN bus and a time trigger bus, and is characterized in that a functional controller divides data transmitted by the branch bus into a priority task and a general task, the priority task is borne by the time trigger bus in normal work, the general task is borne by the CAN bus, and key information is automatically backed up by the double buses; and meanwhile, bus instruction tasks issued by the main trunk are divided into priority tasks and general tasks, the priority tasks are borne by a time trigger bus in normal work, the general tasks are borne by a CAN bus, and key instructions are automatically issued by double buses. The function controller receives a task switching instruction sent by the bus diagnostor, and interacts normal trunk bus data and instruction with the branch bus until the fault bus returns to normal.
The branch bus function block comprises a vehicle control unit, a gun control unit, an autonomous unit and an auxiliary unit, and is characterized in that the vehicle control unit mainly comprises a sensing system, a power system, an energy system and a running system, and the functions of the branch bus function block are that environment sensing is completed through a sensor, an engine provides power or generates electricity, energy is stored or supplied to a battery, and a hub motor is controlled to run; the gun control unit mainly comprises an identification system, a follow-up system and a fire control system, and has the functions of controlling the gun turret to follow up through photoelectric identification of a target object, an azimuth motor and a high-low motor, realizing striking and following by photoelectric locking of the target and finally realizing striking by the fire control system; the autonomous unit mainly comprises autonomous planning, autonomous driving, autonomous recognition and autonomous striking, and has the functions of autonomous planning according to map information, autonomous driving and obstacle avoidance according to radar, vision, infrared sensor information and navigation and inertial navigation components, image recognition target provision according to photoelectricity, and automatic target following according to striking instructions to realize autonomous striking; the auxiliary unit mainly comprises a cooling system, a lighting system, a maintenance system and a diagnosis system, and has the functions of assisting the unmanned war chariot to realize cooling, lighting, maintenance and fault diagnosis.
Compared with the prior art, the invention has the following advantages:
(1) the redundant framework bus of the unmanned combat tank control system adopts a heterogeneous redundant framework main trunk bus and a functional branch bus which are composed of a CAN bus and a time trigger bus, time, space and network division is carried out on task nodes of different levels, and through reasonable division of time, space and network, the processing and transmission of data are ensured not to generate conflict and congestion, and through standardization on a hardware level, the complexity of the whole control system is reduced, and the joint debugging test time is greatly shortened.
(2) The invention carries out redundancy design on hardware modules such as input and output, a processor, a bus system and the like of a control system, supports the implementation of redundant nodes and redundant functions on a plurality of nodes, and prevents the fault of a single node from being propagated to the whole system. The bus monitoring is diagnosed, and the bus monitoring system has the functions of fault detection, identification, isolation, evaluation and restriction, ensures that the system automatically distributes data of a fault bus under the condition that a single bus has a fault, and ensures that the system can still normally operate so as to meet the requirements of high safety and high reliability.
Drawings
The invention is further explained below with reference to the drawings and examples.
Fig. 1 is a block diagram of the redundant framework bus composition of the unmanned fighting vehicle control system.
Fig. 2 is a bus topology of a redundant framework of an unmanned combat tank control system.
Fig. 3 is an energy control system of the unmanned combat tank.
Fig. 4 is a redundant architecture bus software structure of the unmanned combat tank control system.
Detailed Description
The present invention is further described in the following figures and examples, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application and not intended to limit the invention.
The unmanned chariot control system is a complex distributed system, combines components such as vision, radar, laser radar, a proximity sensor, Beidou, a map, navigation, planning and control and the like, and different modules need to be combined into a reliable, safe and firm system, so that the system is required to have openness, interoperability and interoperability, intellectualization and functional autonomy of functional modules, high dispersibility of a system structure, adaptability to the environment and the like. As shown in figure 1, the unmanned combat tank control system adopts a heterogeneous redundant framework consisting of a CAN bus and a time trigger bus.
CAN communication is a set of high-performance and high-reliability communication mechanism and is widely applied to the field of automotive electronics at present. The time trigger bus is a fault-tolerant time trigger-based protocol, which supports redundant nodes and redundant functions implemented on a plurality of nodes, and the operation of a communication control chip is based on a time reference established by a fault-tolerant high-precision global clock inside the communication control chip. The unmanned combat tank control system is provided with a large number of code amounts and software packages, a larger storage space and a stronger computing capability are needed for running and storing the codes, in order to avoid the vehicle-mounted network architecture to be more complicated, the unmanned combat tank control system is divided into a plurality of function blocks according to functions, a function branch bus is built in the system architecture inside each function block through a function controller, as shown in figure 2, a redundant architecture bus of the unmanned combat tank control system comprises a vehicle control unit, a cannon control unit, an autonomous unit and an auxiliary unit, all messages are synchronized by using a global clock, and clocks of all nodes are synchronized by using a high-precision special clock. The vehicle control unit mainly completes environment sensing through the sensor, the engine provides power or generates electricity, the battery stores energy or supplies power, and the hub motor is controlled to run; the gun control unit mainly controls the gun turret to follow through photoelectric identification of a target object, an azimuth motor and a high-low motor, photoelectric locking of the target realizes striking following, and finally the fire control system realizes striking; the autonomous unit is mainly used for autonomous planning according to map information, autonomous driving and obstacle avoidance according to radar, vision and infrared sensor information and navigation and inertial navigation components, identifying a target according to an image provided by photoelectricity, and automatically following the target according to a striking instruction to realize autonomous striking; the auxiliary unit is mainly used for assisting the unmanned combat tank to realize cooling, lighting, maintenance and fault diagnosis.
To explain the invention better, the energy system of the unmanned fighting vehicle is shown in figure 3, the data and the instruction are realized on the heterogeneous redundancy architecture composed of the CAN bus and the time trigger bus, the battery of the unmanned fighting vehicle is used for supplying power to the power motor and also supplying power to the electric accessories, in order to obtain the maximum driving range and the working efficiency, the vehicle control unit is responsible for the energy management of the whole vehicle to improve the utilization rate of the energy, simultaneously, the state of the vehicle and the state of the bus are detected in real time, the information of each subsystem is read through the branch bus composed of the CAN bus and the time trigger bus, the vehicle control unit continuously monitors the electric control system of the whole vehicle to carry out fault diagnosis, corresponding safety protection processing is carried out in time according to the fault content, the state of the vehicle and the state information and the state of each subsystem are detected at the same time, the state information and the fault diagnosis information are transmitted to the main road bus through the vehicle control unit and are received the related instruction, when 1 of the buses fails, the normally working bus takes charge of all bus data and instructions until the failed bus returns to normal. The redundant framework bus of the unmanned combat tank control system ensures that the system automatically shields the data of the fault branch when a single branch fails, and ensures that the system can still normally operate so as to meet the requirements of high safety and high reliability.
In the running process of the redundancy framework bus software system of the unmanned combat tank control system, different function functions are called in sequence by a preset defined sequencing file and run one by one. The static driving system has the advantages that the resource allocation problem is solved in advance at one time, and the specific operation interval of each function is also locked in advance, so that the function operation requirement with harsh requirements on the unmanned combat tank control system is ensured. In combination with a multi-core processor, for functional functions which do not have high requirements on running time, the dynamic driving system has many advantages and provides possibility for online optimization of function running sequence. As can be seen from fig. 4, the entire set of POSIX-OS with Linux as the kernel is used as a keystone, and may be directly run in the multi-core processor system, or may be independently run in an additional virtual hardware kernel environment. The bus processing software package respectively forms functional blocks of diagnosis service, safety measure, communication service and the like, is not only applied to the controller core diagnotor, but also integrated in the functional unit bus software, and the unmanned combat tank control system has flexible expansion, high safety and reliability, simple installation and debugging and good cost performance.
In conclusion, the redundant framework bus of the unmanned combat tank control system is characterized by comprising a heterogeneous redundant framework trunk bus consisting of a CAN bus and a time trigger bus, the unmanned combat tank control system is divided into a plurality of function blocks according to functions, a system architecture in each function block is constructed by a function controller to construct a function branch bus, the function branch bus also adopts a heterogeneous redundant framework consisting of the CAN bus and the time trigger bus, the function block branch bus is connected with the trunk bus through the CAN bus and a time trigger bus interface, bus data and instruction tasks are divided into priority tasks and general tasks, the priority tasks are borne by the time trigger bus in normal work, the general tasks are borne by the CAN bus, key information and instructions are automatically backed up or issued by double buses, when 1 bus fails, all bus data and instructions are borne by the normally working bus, until the failing bus returns to normal. The redundant framework bus of the unmanned combat tank control system ensures that the system automatically shields the data of the fault branch when a single branch fails, and ensures that the system can still normally operate so as to meet the requirements of high safety and high reliability.
The above-described embodiments of the present invention have been described in detail for the purpose of illustrating the invention, and it should be understood that the above-described embodiments are only illustrative of the present invention and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (4)
1. The redundancy frame bus of the unmanned fighting vehicle control system is characterized in that a heterogeneous redundancy frame trunk bus consisting of a CAN bus and a time trigger bus is adopted, the unmanned fighting vehicle control system is divided into a plurality of function blocks according to functions, a system framework in each function block is constructed by a function controller to construct a function branch bus, the function branch bus also adopts a heterogeneous redundancy frame consisting of the CAN bus and the time trigger bus, the function block branch bus is connected with the trunk bus through the CAN bus and a time trigger bus interface, bus data and instruction tasks are divided into priority tasks and general tasks, the priority tasks are born by the time trigger bus in normal work, the general tasks are born by the CAN bus, key information and instructions are automatically backed up or issued by the double buses, when 1 bus has a fault, the normally working bus bears all bus data and instructions, until the failing bus returns to normal. The redundant framework bus of the unmanned combat tank control system ensures that the system automatically shields the data of the fault branch when a single branch fails, and ensures that the system can still normally operate so as to meet the requirements of high safety and high reliability.
2. The heterogeneous redundant framework trunk bus consists of a CAN bus and a time trigger bus, and is characterized in that bus data and command tasks are divided into priority tasks and general tasks, the priority tasks are borne by the time trigger bus in normal work, the general tasks are borne by the CAN bus, and key information is automatically backed up by the double buses; the bus diagnoser double buses monitor and judge, when 1 bus is monitored to have a fault, the bus diagnoser sends a report main controller through a normal bus, and simultaneously sends task switching instructions to the vehicle control unit, the gun control unit, the autonomous unit and the auxiliary unit, and the normally working bus bears all bus data and instructions until the fault bus returns to normal.
3. According to claim 1, the branch bus inside the function block is composed of a CAN bus and a time triggered bus, and is characterized in that the function controller divides data transmitted by the branch bus into a priority task and a general task, the priority task is borne by the time triggered bus in normal work, the general task is borne by the CAN bus, and key information is automatically backed up by the double buses; and meanwhile, bus instruction tasks issued by the main trunk are divided into priority tasks and general tasks, the priority tasks are borne by a time trigger bus in normal work, the general tasks are borne by a CAN bus, and key instructions are automatically issued by double buses. The function controller receives a task switching instruction sent by the bus diagnostor, and interacts normal trunk bus data and instruction with the branch bus until the fault bus returns to normal.
4. The branch bus function block comprises a vehicle control unit, a gun control unit, an autonomous unit and an auxiliary unit, and is characterized in that the vehicle control unit mainly comprises a sensing system, a power system, an energy system and a running system, and the functions of the branch bus function block are that the environment sensing is completed through a sensor, an engine provides power or generates power, the energy is stored or supplied to a battery, and a hub motor is controlled to run; the gun control unit mainly comprises an identification system, a follow-up system and a fire control system, and has the functions of controlling the gun turret to follow up through photoelectric identification of a target object, an azimuth motor and a high-low motor, realizing striking and following by photoelectric locking of the target and finally realizing striking by the fire control system; the autonomous unit mainly comprises autonomous planning, autonomous driving, autonomous recognition and autonomous striking, and has the functions of autonomous planning according to map information, autonomous driving and obstacle avoidance according to radar, vision, infrared sensor information and navigation and inertial navigation components, image recognition target provision according to photoelectricity, and automatic target following according to striking instructions to realize autonomous striking; the auxiliary unit mainly comprises a cooling system, a lighting system, a maintenance system and a diagnosis system, and has the functions of assisting the unmanned war chariot to realize cooling, lighting, maintenance and fault diagnosis.
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