CN114721292B - Distributed controller fault tolerance verification method based on time triggering - Google Patents
Distributed controller fault tolerance verification method based on time triggering Download PDFInfo
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- G—PHYSICS
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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
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Abstract
The invention discloses a fault tolerance verification method of a distributed controller based on time triggering, which comprises an engine and sensor model unit with a fault injection function, a sensor and executing mechanism signal simulation unit, an electric fault injection unit, a bus monitoring and fault injection unit and a test and management software unit. In addition, the system also comprises a distributed controller based on time triggering. The above units form a closed loop control system, and one or more faults can be injected in real time when the control system is running, and the fault types comprise: the fault tolerance of the distributed controller based on time triggering can be judged by observing the operation result of the control system when the fault is injected through a monitoring and management system. The verification method has various fault injection types, can simulate the faults possibly encountered by the control system under the real working condition to the maximum extent, and is an efficient means for verifying the fault tolerance of the distributed controller.
Description
Technical Field
The invention relates to the technical field of aero-engine control technology and test verification, in particular to a simulation test verification method for fault tolerance of an aero-engine controller.
Background
The aeroengine is used as the heart of the aircraft, the performance of the aeroengine directly influences the safety of the aircraft, and the controller is used as the brain of the engine, and plays an important role in the performance of the engine. The working environment of the aeroengine is severe and complex, the working operation time is long, the controller needs to provide guarantee for continuous stable and reliable operation of the aeroengine, along with continuous improvement of the control requirement of the aeroengine, the complexity of the design of the controller is higher and higher, the traditional centralized control architecture can not meet the requirement, a new architecture is proposed, the distributed control architecture has obvious advantages compared with the centralized control architecture, the distributed control architecture has greater advantages in the aspects of improving the engine performance, lightening the weight of an engine control system, maintaining and the like, and the system can better adapt to the development of layered structures and various new technologies, and the current aeroengine control system architecture is gradually changed from centralized to distributed.
The distributed control architecture separates low-level functions from the central processing unit, and gives the low-level functions to the intelligent sensor and the intelligent executing mechanism respectively, and the central processing unit only needs to be responsible for executing control algorithms or other high-level functions, and the intelligent sensor nodes, the intelligent executing mechanism nodes and the central controller nodes can better process programs such as data acquisition, execution, fault tolerance, health management and the like.
The fault-tolerant control is that when the system fails (such as sensor failure and actuator failure), the system can be ensured to be closed-loop stable through a certain method, so that the controlled object can work continuously. Fault-tolerant control techniques have been widely used in the field of high reliability requirements such as aerospace, and may themselves be divided into passive fault-tolerant control techniques and active fault-tolerant techniques. The passive fault tolerant technology is to make the whole closed loop system insensitive to certain determined faults by using a robust control technology under the condition of not changing the structure and parameters of the controller so as to achieve the purpose that the system continues to work under the original performance index after the faults. The active fault-tolerant control technology mainly refers to that when a system fails, a controller can change a control structure on line according to the specific situation of the failure, so that the fault-tolerant purpose is achieved. The control law reconstruction belongs to active fault-tolerant control, and when a sensor fault exists in a control system, the control law can be reconstructed by adopting a control loop around the sensor to carry out parameter compensation, so that the system can keep consistent with the normal state of the sensor, and is stable and controllable.
At present, research on the control rate of the distributed controller of the aeroengine has been developed to a certain extent, wherein the research on the capacity control method is also paid great importance, but the research is still not mature and needs to be verified through a large number of tests, so that the design and simulation of a verifier for the fault tolerance of the distributed controller are necessary.
According to the prior literature and patent, fault-tolerant capability verification of an aeroengine distributed controller is carried out on a pure digital simulation layer, and in the verification of fault-tolerant capability of a control system in other fields, an example of applying semi-physical simulation to fault-tolerant capability verification exists. In the simulation test of the turbofan engine for the unmanned aerial vehicle and the fault injection platform, the fault injection platform is used for the simulation test of the turbofan engine for the unmanned aerial vehicle, fault injection is realized through fault configuration of switching value, analog value, thermocouple, power supply, RS422 and 1553B, the fault injection type of the fault injection mode is single, the simulation fault is not comprehensive enough, and the turbofan engine for the unmanned aerial vehicle can be aimed only.
The requirements on the fault tolerance of the distributed controllers of the aero-engines are higher, the requirements on fault injection simulation are also improved, the requirements on the types of faults are more comprehensive, the requirements are difficult to reach by using a verification method of digital simulation, and a semi-physical simulation method for verifying the fault tolerance of the distributed controllers of the aero-engines is urgently required to be provided at present.
Disclosure of Invention
In view of the above, the invention provides a distributed controller fault tolerance verification method based on time triggering, and the invention aims to provide a simulation method for distributed controller fault tolerance test verification of an aero-engine.
In order to achieve the above purpose, the invention provides a distributed control system fault tolerance verification method based on time triggering, which consists of an engine with a fault injection function, a sensor and execution mechanism model unit, a sensor simulation and execution mechanism signal conditioning unit, an electrical fault injection unit, a bus monitoring and fault injection unit and a test and management software unit. In addition, the system also comprises a distributed controller based on time triggering.
The above units form a closed loop control system that can be injected with one or more faults in real time as the control system operates.
The fault types include: engine failure, sensor failure, electrical failure, bus failure;
the monitoring and management system can observe the operation result of the control system during fault injection, so as to judge the fault tolerance of the distributed controller based on time triggering.
Preferably, the engine fault and sensor fault injection modes are as follows: configuring an engine model through test and management software, and realizing slow-change faults of the engine through degradation of the engine model, wherein the slow-change faults comprise fatigue failure, abrasion, corrosion and the like; the injection of sensor faults is realized by modifying the sensor signal value of the engine model;
preferably, the sensor model receives and processes signals from the engine model, converts the sensor digital signals into analog control signals, transmits the analog control signals to the sensor signal simulation unit, and finally outputs corresponding sensor physical signals by the sensor signal simulation unit to realize the simulation of the sensor signals mechanically.
Preferably, the bus fault injection includes: bus open circuit fault, bus bit fault, single node instantaneous reception fault, single node instantaneous transmission fault, single node permanent reception fault, single node permanent transmission fault, etc.;
the bus disconnection fault is to disconnect the TTP/C bus from the node, and the bus isolation is realized through a relay;
the bus bit faults are configured by management software, and the node receives an instruction to turn over a certain bit of the received or transmitted data;
the method comprises the steps that a single-node instantaneous receiving fault, a single-node instantaneous sending fault, a single-node permanent receiving fault and a single-node permanent sending fault are all realized by sending instructions to the single node through management software, and the instantaneous/permanent receiving or sending faults of the node to data are realized from a node software layer;
preferably, the electrical fault injection mode is as follows: faults such as open circuit, short circuit and the like are configured between the nodes and the sensor simulation and execution mechanism signal conditioning units, so that the fault configuration of a single node or the simultaneous electrical fault configuration of multiple nodes can be realized;
the circuit breaking and short circuit faults are realized by configuring the electric fault injection board through management software, the circuit breaking faults enable the signal lines to be disconnected physically through the relays, and the short circuit faults establish connection between the signal lines through the relays.
Preferably, the test and management software unit is capable of evaluating the fault tolerance of the distributed controller: the monitoring node feeds back and displays the running state of the bus and the node to test and management software, visually displays the control precision, response speed and other capacities of the distributed controller on the engine in a fault injection mode through the software, establishes an evaluation system of fault tolerance capacity, and classifies the fault tolerance capacity of the controller.
A distributed control system fault tolerance verification method based on time triggering comprises the following steps:
step one, connection among units and initialization configuration:
the engine model, the sensor model and the executing mechanism model are packaged into software to enable the software to run in the upper computer, the sensor signal simulation and executing mechanism signal conditioning unit is connected with the upper computer through a cable to transmit signals, simulate real sensor signals and executing mechanism driving signals, and respectively connect different sensor simulation units and executing mechanism conditioning units to different distributed nodes according to test requirements;
and configuring an environment required by the operation of the upper computer software, wherein the configuration content comprises an engine model operation environment, a sensor and execution mechanism model operation environment and a test and management software operation environment.
Step two, starting a test:
the test and management software sends a start test instruction, the engine model, the sensor and the execution mechanism model receive the instruction to start running, the test and management software displays the running state parameters of the engine in real time, when the engine model runs to a certain steady-state working point, a fault injection test can be carried out, the test and management software is used for injecting the engine fault, the sensor fault, the bus fault and the electrical fault, single or multiple faults can be injected in real time for testing, and the upper computer software displays the running parameters of the engine after the fault injection, so that a control closed loop of the whole test is formed.
Step three, fault tolerance analysis:
the test and management software displays and stores the engine operation parameters after fault injection, evaluates the fault-tolerant capability of the controller through indexes such as response speed, control precision and the like of the controller, and grades the fault-tolerant capability of the controller, such as strong fault-tolerant capability, good fault-tolerant capability, basically possessing fault-tolerant capability and the like.
Compared with the prior art, the distributed control system fault tolerance verification method based on time triggering has the following beneficial effects: the method has the advantages that a high-efficiency verification means is provided for the fault tolerance capability of the distributed controller based on time triggering, possible faults are accurately simulated through different methods, the fault types are comprehensive, the test precision is high, the injection of single faults or multiple faults can be realized in real time, the actual faults possibly encountered by a control system under the actual working condition can be simulated to the maximum extent, and the favorable simulation technical support is provided for the subsequent research of the fault tolerance capability method of the distributed controller; the fault-tolerant capability verification method of the distributed controller evaluates the fault-tolerant capability of the controller, stores and analyzes test data, and provides reliable technical support for research and development tests of the distributed controller.
Drawings
FIG. 1 is a system diagram of a time-triggered based distributed system fault-tolerant verification method according to one embodiment of the invention.
FIG. 2 is a flow chart of authentication steps according to one embodiment of the invention.
Detailed Description
The present invention will be described in detail below with reference to the specific embodiments shown in the drawings, but these embodiments are not limited to the present invention, and structural, method, or functional modifications made by those skilled in the art based on these embodiments are included in the scope of the present invention.
In one embodiment of the present invention as shown in fig. 1, the present invention provides a fault tolerance verification method of a time triggered distributor, which is composed of an engine and sensor model unit with fault injection function, a sensor simulation and execution mechanism signal conditioning unit, an electrical fault injection unit, a bus monitoring and fault injection unit, and a test and management software unit. In addition, the system also comprises a distributed controller based on time triggering.
The distributed controller fault tolerance verification system is characterized in that 5 functional nodes are designed, the function of the node 1 is measurement of low-pressure rotating speed, the node 2 is used for simultaneously measuring high-pressure rotating speed and controlling high-pressure blade guide vane angle, the node 3 is used for measuring the temperature after a turbine and controlling the opening of a rear ejector, the node 4 is used for controlling a fuel oil regulating mechanism, and the node 5 is used as a backup node.
The engine digital model is a certain turbofan engine component level model; the engine digital model sends data to the sensor model, wherein the data comprise sensor signals such as low-pressure rotating speed, high-pressure rotating speed, turbine rear temperature and the like, and meanwhile, the actuator model converts a received actuator driving signal into actuator parameters and then transmits the actuator parameters to the engine model to form a control closed loop.
The fault tolerance verification method comprises the steps of accessing a distributed controller based on time triggering into a verification system, and correspondingly deploying sensor simulation and execution mechanism conditioning simulation units according to the node functions, as shown in fig. 2. After the connection and the construction of each unit are completed, initializing and configuring the system, and starting fault tolerance verification test after the configuration is completed.
The test and management software sends a test starting instruction, the engine model starts to operate, and a steady-state working point is selected to perform a fault injection test on the engine model;
the fault injection comprises engine faults, sensor faults, bus faults and electrical faults;
the engine fault injection and the sensor fault injection are realized by changing engine model parameters;
the bus fault injection comprises a bus open circuit fault, a bus bit fault, a single-node instantaneous receiving fault, a single-node instantaneous transmitting fault, a single-node permanent receiving fault, a single-node permanent transmitting fault and the like, and fault instructions are transmitted through an upper computer, so that open circuit between a TTP/C bus and a node, bit flip of node receiving start data and instantaneous or permanent failure of node receiving or transmitting data are realized;
the electrical fault is injected between the node and the sensor simulation and execution mechanism signal conditioning unit, and the relay is driven to work through the electrical fault injection board card, so that the disconnection and short circuit between cables are realized.
The fault injection is performed in real time in the test process, and single fault injection or simultaneous injection of multiple faults can be realized through test and management software of the upper computer, so that more reference data are provided for fault tolerance assessment of the controller.
The engine model operates in a fault mode, the controller gives corresponding instructions to the engine, evaluation indexes such as control accuracy, response speed and the like of the engine are visually displayed through an upper computer test and management software, and the fault tolerance of the distributed controller is evaluated through an established evaluation system.
Although the preferred embodiments of the present invention have been disclosed for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims.
Claims (5)
1. The fault tolerance verification method of the distributed controller based on time triggering is characterized by comprising an engine and sensor model unit with a fault injection function, a sensor simulation and execution mechanism signal conditioning unit, an electrical fault injection unit, a bus monitoring and fault injection unit and a test and management software unit; in addition, the system also comprises a distributed controller based on time triggering;
the engine, the sensor and the executing mechanism model unit with the fault injection function are software running on the host computer, provide signals for the sensor simulation units of the distributed control nodes, and receive executing mechanism driving signals from the executing mechanism signal conditioning unit;
the sensor simulation and execution mechanism signal conditioning unit simulates various sensor signals and conditions the control signals of the execution mechanism respectively;
the bus monitoring and fault injection unit is used for monitoring the running state of the TTP/C bus and the running state of each node and realizing the injection of bus faults;
the electrical fault injection unit is used for injecting electrical faults generated by the fault tolerance verification system of the distributed controller;
the test and management software unit is used for realizing man-machine interaction of the whole control system;
the units form a closed-loop control system, and one or more faults are injected in real time when the control system operates;
the types of faults include: engine failure, sensor failure, electrical failure, bus failure;
the operation result of the control system is observed through the monitoring and management system, so that the fault tolerance of the distributed controller based on time triggering is judged;
the bus fault injection includes:
bus open circuit fault, bus bit fault, single node instantaneous reception fault, single node instantaneous transmission fault, single node permanent reception fault, single node permanent transmission fault;
the bus disconnection fault is to disconnect the TTP/C bus from the node, and the bus isolation is realized through a relay;
the bus bit faults are configured by management software, and the node receives an instruction to turn over a certain bit of the received or transmitted data;
the method comprises the steps that a single-node instantaneous receiving fault, a single-node instantaneous sending fault, a single-node permanent receiving fault and a single-node permanent sending fault are all realized by sending instructions to the single node through management software, and the instantaneous/permanent receiving or sending faults of the node to data are realized from a node software layer;
the distributed controller fault tolerance verification system is characterized in that 5 functional nodes are designed, the function of the node 1 is measurement of low-pressure rotating speed, the node 2 is used for simultaneously measuring high-pressure rotating speed and controlling high-pressure blade guide vane angle, the node 3 is used for measuring the temperature after a turbine and controlling the opening of a rear ejector, the node 4 is used for controlling a fuel oil regulating mechanism, and the node 5 is used as a backup node.
2. The fault tolerance verification method of a distributed controller based on time triggering as claimed in claim 1, wherein the engine fault and sensor fault injection mode is as follows:
configuring an engine model through test and management software, and realizing slow-change faults of the engine through degradation of the engine model, wherein the slow-change faults comprise fatigue failure, abrasion and corrosion; the injection of sensor faults is realized by modifying the sensor signal value of the engine model;
the sensor model receives and processes signals from the engine model, converts the sensor digital signals into analog control signals, transmits the analog control signals to the sensor signal simulation unit, and finally outputs corresponding sensor physical signals by the sensor signal simulation unit to realize the simulation of the sensor signals mechanically.
3. The fault tolerance verification method of the distributed controller based on time triggering as claimed in claim 1, wherein the electrical fault injection mode is as follows:
the open circuit and short circuit faults are configured among the nodes, the sensor and the actuator signal simulation unit, so that the fault configuration of a single node or the simultaneous electrical fault configuration of multiple nodes is realized;
the circuit breaking and short circuit faults are realized by configuring the electric fault injection board through management software, the circuit breaking faults enable the signal lines to be disconnected physically through the relays, and the short circuit faults establish connection between the signal lines through the relays.
4. The time-triggered based fault-tolerant capability verification method of a distributed controller as claimed in claim 1, wherein the fault-tolerant capability of the distributed controller is evaluated:
the bus monitoring and fault injection unit feeds back and displays the running states of the buses and the nodes to test and management software, visually displays the control precision and response speed capability of the distributed controller to the engine under the fault injection condition through the software, establishes an evaluation system of fault tolerance capability, and classifies the fault tolerance capability of the controller.
5. A method for verifying fault tolerance of a distributed controller based on time triggering as claimed in any one of claims 1-4, wherein the method comprises an engine with fault injection function, a sensor and actuator model unit, a sensor simulation and actuator signal conditioning unit, an electrical fault injection unit, a bus monitoring and fault injection unit, a test and management software unit, and a distributed controller based on time triggering,
the engine, the sensor and the executing mechanism model unit with the fault injection function are software running on the host computer, provide signals for the sensor simulation units of the distributed control nodes, and receive executing mechanism driving signals from the executing mechanism signal conditioning unit;
the sensor simulation and execution mechanism signal conditioning unit simulates various sensor signals and conditions the control signals of the execution mechanism respectively;
the bus monitoring and fault injection unit is used for monitoring the running state of the TTP/C bus and the running state of each node and realizing the injection of bus faults;
the electrical fault injection unit is used for injecting electrical faults generated by the fault tolerance verification system of the distributed controller;
the test and management software unit is used for realizing man-machine interaction of the whole control system;
the units form a closed-loop control system, and one or more faults are injected in real time when the control system operates;
the types of faults include: engine failure, sensor failure, electrical failure, bus failure;
the fault tolerance of the time-triggered distributed controller is determined by observing the operation result of the control system during fault injection through the monitoring and management system.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101950157A (en) * | 2010-07-30 | 2011-01-19 | 北京航空航天大学 | Flight simulation system with high instantaneity |
| CN103869707A (en) * | 2012-12-13 | 2014-06-18 | 中航商用航空发动机有限责任公司 | Semi-physical simulation test system applied to commercial aero engine control system |
| CN105223831A (en) * | 2014-06-23 | 2016-01-06 | 中航商用航空发动机有限责任公司 | The quick configuration system of semi-physical simulation |
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| WO2012005639A1 (en) * | 2010-07-06 | 2012-01-12 | Saab Ab | Simulating and testing avionics |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101950157A (en) * | 2010-07-30 | 2011-01-19 | 北京航空航天大学 | Flight simulation system with high instantaneity |
| CN103869707A (en) * | 2012-12-13 | 2014-06-18 | 中航商用航空发动机有限责任公司 | Semi-physical simulation test system applied to commercial aero engine control system |
| CN105223831A (en) * | 2014-06-23 | 2016-01-06 | 中航商用航空发动机有限责任公司 | The quick configuration system of semi-physical simulation |
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