CN114527698B - Flight controller with redundant functions - Google Patents
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- CN114527698B CN114527698B CN202210161701.8A CN202210161701A CN114527698B CN 114527698 B CN114527698 B CN 114527698B CN 202210161701 A CN202210161701 A CN 202210161701A CN 114527698 B CN114527698 B CN 114527698B
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- 238000012545 processing Methods 0.000 claims abstract description 100
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- HEZMWWAKWCSUCB-PHDIDXHHSA-N (3R,4R)-3,4-dihydroxycyclohexa-1,5-diene-1-carboxylic acid Chemical compound O[C@@H]1C=CC(C(O)=O)=C[C@H]1O HEZMWWAKWCSUCB-PHDIDXHHSA-N 0.000 claims description 12
- 238000010586 diagram Methods 0.000 description 8
- 230000002159 abnormal effect Effects 0.000 description 6
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 238000013016 damping Methods 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000007547 defect Effects 0.000 description 1
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- 230000035939 shock Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- 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
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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Abstract
The invention discloses a redundant flight controller, which solves the problem of safety redundancy of an unmanned aerial vehicle flight controller and improves the performance of stable operation of the flight controller in a complex environment. A redundant flight controller comprises a first central processing unit, a second central processing unit, a heartbeat monitoring module, a first IMU sensor, a second IMU sensor, a change-over switch and a power module; the first central processing unit continuously reads the data of the first IMU sensor, and when the data read by the first central processing unit is normal, the first central processing unit sends a first heartbeat signal to the heartbeat monitoring module, and otherwise, the first heartbeat signal is stopped being sent; the second CPU is the same as the first CPU; the heartbeat monitoring module selects the first central processor or the second central processor to output PWM signals through the change-over switch according to the heartbeat signals. The purpose that the central processing unit and the IMU sensor fail and the flight controller can continue to stably run is achieved.
Description
Technical Field
The invention relates to the field of multi-rotor aircraft, in particular to a redundant flight controller.
Background
The rotor craft has high-efficient low altitude flight ability, has been widely used in fields such as aerial photography, logistics, agriculture and the like. The flight controller is a core control component of the aircraft, and has the task of receiving data of an internal sensor (a gyroscope, an accelerometer, a magnetometer, a barometer and the like) and an external sensor (GPS positioning, an external magnetometer and the like) through a central processing unit, and converting the data into control signals of an electronic speed regulator through a flight control algorithm so as to control the attitude, the position and the altitude of the aircraft. The flight controller is generally applied to small-sized aircrafts such as unmanned aircrafts, while medium-sized and large-sized aircrafts and manned aircrafts require higher level of safety, and the flight controller is required to have stable operation performance in a complex environment. Existing flight controllers use a microcontroller plus multiple sensors based architecture that is less reliable and less stable, and when a microcontroller fails or one sensor fails, the aircraft is at risk.
In the patent number CN201621454735.2, a multi-rotor unmanned aerial vehicle flight controller is provided for improve flight controller's arithmetic processing ability, peripheral hardware expansion ability, shock resistance and stability, include: the device comprises a flight control main board, a flexible sensor board, an interface board and a damping device, wherein a main Cortex-M4 microcontroller and a slave Cortex-M3 microcontroller are arranged on the flight control main board, two sets of gyroscopes, accelerometers and geomagnetic sensors are arranged on the flexible sensor board, the interface board comprises a left side interface and a right side interface, and the damping device is a gel pad. This solution would extend and sensor redundancy only from the Cortex-M3 microcontroller as an interface, without the ability to independently control the aircraft, and therefore without safety redundancy for the flight controller.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a redundancy flight controller.
The aim of the invention is realized by the following technical scheme: a redundant flight controller comprises a first central processing unit, a second central processing unit, a heartbeat monitoring module, a first IMU sensor, a second IMU sensor, a change-over switch and a power module; the first central processing unit continuously reads the data of the first IMU sensor, and when the data read by the first central processing unit is normal, the first central processing unit sends a first heartbeat signal to the heartbeat monitoring module, and otherwise, the first heartbeat signal is stopped being sent; the second CPU continuously reads the data of the second IMU sensor, and when the data read by the second CPU is normal, the second CPU sends a second heartbeat signal to the heartbeat monitoring module, and otherwise, the second CPU stops sending the second heartbeat signal; the first central processing unit and the second central processing unit work independently and respectively output PWM signals to the change-over switch;
the heartbeat monitoring module selects the first central processor or the second central processor to output PWM signals through the change-over switch in the following mode:
a) When the heartbeat monitoring module can normally receive the first heartbeat signal, the heartbeat monitoring module sends a command to the change-over switch, and the change-over switch selects and outputs the PWM signal of the first central processing unit;
b) When the heartbeat monitoring module cannot receive the first heartbeat signal but can normally receive the second heartbeat signal, the heartbeat monitoring module sends a command to the change-over switch, and the change-over switch selects and outputs a PWM signal of the second central processing unit;
c) When the heartbeat monitoring module cannot receive the first heartbeat signal and the second heartbeat signal, the heartbeat monitoring module can independently control the aircraft to fall in an emergency;
the power module supplies power to all other devices.
Further, the power supply module comprises a battery, a first buck DCDC, a second buck DCDC, a power management chip, a first LDO and a second LDO; the battery is input into the first step-down DCDC and the second step-down DCDC in parallel, generates two paths of 5V voltages and inputs the two paths of 5V voltages into the power management chip; the power management chip controls the stability of power supply of the first LDO and the second LDO; the first LDO and the second LDO respectively output voltages to supply power for all other devices.
Further, the first and second heartbeat signals may be a pulse or other form of signal.
Further, the first and second heartbeat signals have a frequency greater than 100 hertz.
Further, the heartbeat monitoring module can be a special chip or a programmable logic device and processes information of the heartbeat signal in parallel.
Further, the system also comprises other sensors and other peripherals, and the first central processing unit and the second central processing unit respectively read the data of the other sensors and the other peripherals continuously.
Further, the first central processing unit, the first IMU sensor, the heartbeat monitoring module, the change-over switch and the power module are respectively arranged on the front surface of the PCB; the second central processing unit, the second IMU sensor, other sensors and other peripherals are respectively arranged on the back surface of the PCB.
The beneficial effects of the invention are as follows:
1. the redundant flight controller adopts the framework of the two central processing units, the two central processing units are equal to each other and are mutually backup, so that the safety and stability of the flight controller are improved to the greatest extent;
2. the redundant flight controller of the invention uses the heartbeat monitoring module to receive the state data of the central processing unit and each sensor in real time, and when the abnormal state is monitored, the state data can be seamlessly switched to the other central processing unit and the other sensor in real time, so that the safety and the stability of the flight controller are improved very effectively;
3. by adopting the redundant flight controller, two paths of voltage-reducing DCDC chips and a power management chip are used for configuration, and two paths of 5V voltages are mutually backed up and are switched seamlessly; the safety and stability of the power supply are improved to the maximum extent;
4. by adopting the redundant flight controller, the first central processor, the second central processor and the corresponding sensors are respectively arranged on the front side and the back side of the hardware PCB, so that the accuracy of sampling the state and the flight attitude of the aircraft is improved to the greatest extent; meanwhile, the safety and stability of the flight controller are improved on the hardware structure.
Drawings
FIG. 1 is a schematic diagram of the overall architecture of a system for a first embodiment of a redundant flight controller according to the present invention;
FIG. 2 is a schematic power diagram of a first embodiment of a redundant flight controller according to the present invention;
FIG. 3 is a schematic diagram of a system architecture of a second embodiment of a redundant flight controller according to the present invention;
FIG. 4 is a schematic diagram of a PCB layout of a second embodiment of a redundant flight controller according to the present invention;
FIG. 5 is a system flow diagram of a second embodiment of a redundant flight controller in accordance with the present invention;
in the figure, a 1-first central processing unit, a 2-second central processing unit, a 3-first IMU sensor, a 4-second IMU sensor, a 5-heartbeat monitoring module, a 6-change-over switch, 7-other sensors, 8-other peripherals, a 9-electronic speed regulator, 10-batteries, 11-first step-down DCDC, 12-second step-down DCDC, 13-power management chip, 14-first LDO, 15-second LDO and 16-power module.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and examples, it being understood that the specific examples described herein are for the purpose of illustrating the present invention only, and not all the examples. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, are within the scope of the present invention.
Example 1
A redundant flight controller as shown in fig. 1 comprises a first central processing unit 1, a second central processing unit 2, a heartbeat monitoring module 5, a first IMU sensor 3, a second IMU sensor 4, a change-over switch 6 and a power module 16; the first central processing unit 1 is in communication with the first IMU sensor 3, the first central processing unit 1 continuously reads data of the first IMU sensor 3, the data of the first IMU sensor 3 comprise attitude data of an aircraft, when the data read by the first central processing unit 1 are normal, the first heartbeat signal is sent to the heartbeat monitoring module 5, and if the data read by the first central processing unit 1 are abnormal, the first heartbeat signal is stopped from being sent to the heartbeat monitoring module 5; the second central processing unit 2 is in communication with the second IMU sensor 4, the second central processing unit 2 continuously reads data of the second IMU sensor 4, the data of the second IMU sensor 4 comprise attitude data of an aircraft, if the data read by the second central processing unit 3 are normal, the second central processing unit sends a second heartbeat signal to the heartbeat monitoring module 5, and if the data read by the second central processing unit 2 are abnormal, the second central processing unit stops sending the second heartbeat signal to the heartbeat monitoring module 5; the first IMU sensor 3 and the second IMU sensor 4 are mutually independent and respectively sense the gesture of the aircraft; the first central processing unit 1 and the second central processing unit 2 work independently and respectively output PWM signals to the change-over switch 6;
the heartbeat monitoring module 5 selects the first central processing unit 1 or the second central processing unit 2 to output the PWM signal through the change-over switch 6 in the following manner:
a) When the heartbeat monitoring module 5 can normally receive the first heartbeat signal, the heartbeat monitoring module 5 sends a command to the change-over switch 6, and the change-over switch 6 selects and outputs the PWM signal of the first central processing unit 1;
b) When the heartbeat monitoring module 5 cannot receive the first heartbeat signal but can normally receive the second heartbeat signal, the heartbeat monitoring module 5 sends a command to the change-over switch 6, and the change-over switch 6 selects and outputs the PWM signal of the second central processing unit 2;
c) When the heartbeat monitoring module 5 cannot receive the first heartbeat signal and the second heartbeat signal, the heartbeat monitoring module 5 can independently control the aircraft to fall in an emergency;
the power module 16 provides power to all other devices.
The heartbeat monitoring module 5 can be a special chip or a programmable logic device and processes the information of the heartbeat signal in parallel.
The working process of the redundancy flight controller is as follows:
the first central processing unit 1 is communicated with the first IMU sensor 3, when the first central processing unit 1 can normally receive the data of the first IMU sensor 3, the first central processing unit 1 sends first heartbeat signals to the heartbeat monitoring module 5 at intervals of a period of time (millisecond level), and otherwise, the first heartbeat signals are stopped from being sent; similarly, the second central processing unit 2 communicates with the second IMU sensor 4, when the second central processing unit 2 can normally receive the data of the second IMU sensor 4, the second central processing unit 2 sends the second heartbeat signal to the heartbeat monitoring module 5 at intervals of a period of time (millisecond level), otherwise, the second heartbeat signal is stopped from being sent; the first central processing unit 1 and the second central processing unit 2 work independently and respectively output PWM signals to the change-over switch 6;
the heartbeat signal may be a pulse or other form of signal;
when the first central processing unit 1 and the second central processing unit 2 both normally send heartbeat signals to the heartbeat monitoring module 5, the heartbeat monitoring module 5 sends a switching command to the switching switch 6, and the switching switch 6 defaults to select PWM signals output by the first central processing unit 1;
when the first central processing unit 1 stops sending the first heartbeat signal to the heartbeat monitoring module 5 and the second central processing unit 2 normally sends the second heartbeat signal to the heartbeat monitoring module 5, the heartbeat monitoring module 5 sends a switching command to the switching switch 6, and the switching switch 6 selects the PWM signal output by the second central processing unit 2;
when the second central processing unit 2 stops sending the second heartbeat signal to the heartbeat monitoring module 5, the first central processing unit 1 normally sends the first heartbeat signal to the heartbeat monitoring module 5, the heartbeat monitoring module 5 sends a switching command to the switching switch 6, and the switching switch 6 selects the PWM signal output by the first central processing unit 1;
the output PWM signals are input to an electronic speed regulator in the aircraft to control the motor of the aircraft to run, so that the aircraft can fly normally;
when the first central processing unit 1 and the second central processing unit 2 stop sending heartbeat signals to the heartbeat monitoring module 5, the heartbeat monitoring module 5 can independently control the aircraft to land in an emergency.
The first central processing unit 1 or the second central processing unit 2 sends the heartbeat signal to the heartbeat monitoring module 5 with the frequency of more than 100 Hz, which means that the heartbeat monitoring module 5 can process the heartbeat signal sent by the first central processing unit 1 or the second central processing unit 2 within 10 milliseconds; when the heartbeat monitoring module 5 detects that the heartbeat signal is abnormal, the aircraft is in an out-of-control state within 10 milliseconds, and at the moment, the heartbeat monitoring module 5 in the redundant flight controller outputs a switching command or executes emergency landing, so that the aircraft can be controlled to be in a normal state again.
FIG. 2 is a schematic diagram of a power module 16 in a redundant flight controller, the power module 16 including a battery 10, a first buck DCDC11, a second buck DCDC12, a power management chip 13, a first LDO14 and a second LDO15; the battery 10 is input into a first step-down DCDC11 and a second step-down DCDC12 in parallel, generates two paths of 5V voltages and is input into a power management chip 13; the power management chip 13 is responsible for managing two paths of 5V voltages, and can be rapidly and seamlessly switched to the other path of 5V voltage when one path of 5V failure is detected, so that the stability of power supply to the first LDO14 and the second LDO15 is ensured; the first LDO14 and the second LDO15 respectively output 3.3V and 1.8V voltages to supply power to all other devices; the two paths of 5V voltages are backed up each other and are switched seamlessly; the safety and stability of the power supply are improved to the maximum extent.
Example 2
As shown in fig. 3, the present invention further provides a schematic structural diagram of a redundant flight controller, where the redundant flight controller further includes other sensors 7 and other peripherals 8, and the other sensors 7 and the other peripherals 8 are respectively in communication with the first central processor 1 and the second central processor 2; the first central processing unit 1 and the second central processing unit 2 respectively read data of other sensors 7 and other peripherals (8) continuously.
The other sensors 7 include barometers, electronic compasses, GPS, etc., and the other peripherals 8 include a data transmission module, a remote control receiver, etc.
As shown in fig. 4, in a layout diagram of a PCB of a flight controller, a first central processing unit 1, a first IMU sensor 3, a heartbeat monitoring module 5, a switch 6 and a power module 16 are respectively arranged on the front surface (TOP surface) of a PCB board; the second central processing unit 2, the second IMU sensor 4, the other sensors 7 and the other peripherals 8 are respectively arranged on the back surface (BOTTOM surface) of the PCB; the first central processing unit 1, the second central processing unit 2 and other devices are respectively arranged on the front side and the back side of the hardware PCB, so that the accuracy of the state and the flight attitude sampling of the aircraft is improved to the greatest extent; meanwhile, the safety and stability of the flight controller are improved on the hardware structure.
As shown in fig. 5, an application case of embodiment 2 is further described for the functions of the first cpu 1, the second cpu 2 and the heartbeat monitoring module 5; after the system is powered on and runs, the first central processing unit 1 and the second central processing unit 2 continuously read data of the first IMU sensor 3 or the second IMU sensor 4, other sensors 7 and other peripherals 8 respectively; if the data are normal, the first central processing unit 1 sends the first heartbeat signal to the heartbeat monitoring module 5 at intervals (millisecond level), and if the data are abnormal, the first central processing unit 1 stops sending the first heartbeat signal to the heartbeat monitoring module 5; similarly, if the data are normal, the second central processing unit 2 sends the first heartbeat signal to the heartbeat monitoring module 5 at intervals (millisecond level), and if the data are abnormal, the second central processing unit 2 stops sending the second heartbeat signal to the heartbeat monitoring module 5; when the heartbeat monitoring module 5 can normally receive the second heartbeat signal, the heartbeat monitoring module 5 sends a command to the change-over switch 6, and the change-over switch 6 selects and outputs the PWM signal of the first central processing unit 1; when the heartbeat monitoring module 5 cannot receive the first heartbeat signal but can normally receive the second heartbeat signal, the heartbeat monitoring module 5 sends a command to the change-over switch 6, and the change-over switch 6 selects and outputs the PWM signal of the second central processing unit 2; when the heartbeat monitoring module 5 cannot receive the first heartbeat signal and the second heartbeat signal, emergency landing is executed; when the system is powered on and operates, the heartbeat monitoring module 5 can continuously detect the heartbeat signal.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather to enable any modification, equivalent replacement, improvement or the like to be made within the spirit and principles of the invention.
Claims (7)
1. The redundant flight controller is characterized by comprising a first central processing unit (1), a second central processing unit (2), a heartbeat monitoring module (5), a first IMU sensor (3), a second IMU sensor (4), a change-over switch (6) and a power supply module (16); the first central processing unit (1) continuously reads the data of the first IMU sensor (3), and when the data read by the first central processing unit (1) are normal, the first central processing unit sends a first heartbeat signal to the heartbeat monitoring module (5), and otherwise, the first heartbeat signal is stopped from being sent; the second central processing unit (2) continuously reads the data of the second IMU sensor (4), and when the data read by the second central processing unit (2) are normal, the second central processing unit sends a second heartbeat signal to the heartbeat monitoring module (5), and otherwise, the second central processing unit stops sending the second heartbeat signal; the first central processing unit (1) and the second central processing unit (2) work independently and respectively output PWM signals to the change-over switch (6);
the heartbeat monitoring module (5) selects the first central processing unit (1) or the second central processing unit (2) to output PWM signals through the change-over switch (6) in the following way:
a) When the heartbeat monitoring module (5) can normally receive the first heartbeat signal, the heartbeat monitoring module (5) sends a command to the change-over switch (6), and the change-over switch (6) selects and outputs the PWM signal of the first central processing unit (1);
b) When the heartbeat monitoring module (5) cannot receive the first heartbeat signal but can normally receive the second heartbeat signal, the heartbeat monitoring module (5) sends a command to the change-over switch (6), and the change-over switch (6) selects and outputs the PWM signal of the second central processing unit (2);
c) When the heartbeat monitoring module (5) cannot receive the first heartbeat signal and the second heartbeat signal, the heartbeat monitoring module (5) can independently control the aircraft to fall in an emergency;
the power module (16) provides power to all other devices.
2. The redundant flight controller of claim 1, wherein the power module (16) comprises a battery (10), a first buck DCDC (11), a second buck DCDC (12), a power management chip (13), a first LDO (14), and a second LDO (15); the battery (10) is input into a first step-down DCDC (11) and a second step-down DCDC (12) in parallel, generates two paths of 5V voltages and inputs the two paths of 5V voltages into the power management chip (13); the power management chip (13) controls the stability of power supply of the first LDO (14) and the second LDO (15); the first LDO (14) and the second LDO (15) respectively output voltages to supply power for all other devices.
3. A redundant flight controller according to claim 1 wherein the first and second heartbeat signals are pulses or other forms of signals.
4. The redundant flight controller of claim 1, wherein the first and second heartbeat signals have a frequency greater than 100 hertz.
5. A redundant flight controller according to claim 1, characterized in that the heartbeat monitoring module (5) may be a dedicated chip or a programmable logic device, processing the information of the heartbeat signal in parallel.
6. A redundant flight controller according to claim 2, further comprising other sensors (7) and other peripherals (8), the first central processor (1) and the second central processor (2) constantly reading data from the other sensors (7) and other peripherals (8), respectively.
7. The redundant flight controller of claim 6, wherein the first central processing unit (1), the first IMU sensor (3), the heartbeat monitoring module (5), the change-over switch (6) and the power supply module (16) are respectively arranged on the front surface of the PCB board; the second central processing unit (2), the second IMU sensor (4), other sensors (7) and other peripherals (8) are respectively distributed on the back surface of the PCB.
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| CN109062028A (en) * | 2018-09-04 | 2018-12-21 | 北京实干兴邦科技有限公司 | A kind of redundance control system of flight control computer |
| CN113110563A (en) * | 2021-05-28 | 2021-07-13 | 之江实验室 | Redundancy arbitration switching method and system for unmanned aerial vehicle and computer equipment |
| WO2021212325A1 (en) * | 2020-04-21 | 2021-10-28 | 深圳市大疆创新科技有限公司 | Dual-flight control switching method, flight control system, and unmanned aerial vehicle |
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| CN109062028A (en) * | 2018-09-04 | 2018-12-21 | 北京实干兴邦科技有限公司 | A kind of redundance control system of flight control computer |
| WO2021212325A1 (en) * | 2020-04-21 | 2021-10-28 | 深圳市大疆创新科技有限公司 | Dual-flight control switching method, flight control system, and unmanned aerial vehicle |
| CN113110563A (en) * | 2021-05-28 | 2021-07-13 | 之江实验室 | Redundancy arbitration switching method and system for unmanned aerial vehicle and computer equipment |
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