CN116520791A - Full-automatic detection method for target aircraft safety controller based on signal threshold technology - Google Patents
Full-automatic detection method for target aircraft safety controller based on signal threshold technology Download PDFInfo
- Publication number
- CN116520791A CN116520791A CN202211691714.2A CN202211691714A CN116520791A CN 116520791 A CN116520791 A CN 116520791A CN 202211691714 A CN202211691714 A CN 202211691714A CN 116520791 A CN116520791 A CN 116520791A
- Authority
- CN
- China
- Prior art keywords
- detection
- safety controller
- control
- safety
- information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 319
- 238000005516 engineering process Methods 0.000 title claims abstract description 18
- 230000000737 periodic effect Effects 0.000 claims abstract description 34
- 230000000694 effects Effects 0.000 claims abstract description 7
- 238000004088 simulation Methods 0.000 claims description 38
- 238000000034 method Methods 0.000 claims description 30
- 238000005259 measurement Methods 0.000 claims description 27
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 24
- 238000001914 filtration Methods 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 claims description 11
- 230000008569 process Effects 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 8
- 230000003750 conditioning effect Effects 0.000 claims description 3
- 238000005070 sampling Methods 0.000 claims description 2
- 230000007246 mechanism Effects 0.000 abstract description 2
- 230000000007 visual effect Effects 0.000 abstract description 2
- 230000006870 function Effects 0.000 description 24
- 238000006243 chemical reaction Methods 0.000 description 17
- 238000010438 heat treatment Methods 0.000 description 16
- 238000012360 testing method Methods 0.000 description 9
- 238000013461 design Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 7
- 238000012544 monitoring process Methods 0.000 description 6
- 238000002347 injection Methods 0.000 description 4
- 239000007924 injection Substances 0.000 description 4
- 238000003491 array Methods 0.000 description 3
- 230000002093 peripheral effect Effects 0.000 description 3
- 102100034112 Alkyldihydroxyacetonephosphate synthase, peroxisomal Human genes 0.000 description 2
- 101000799143 Homo sapiens Alkyldihydroxyacetonephosphate synthase, peroxisomal Proteins 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 2
- 238000000848 angular dependent Auger electron spectroscopy Methods 0.000 description 2
- 239000000306 component Substances 0.000 description 2
- 239000008358 core component Substances 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 101000823106 Equus caballus Alpha-1-antiproteinase 2 Proteins 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 230000005764 inhibitory process Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012163 sequencing technique Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
-
- 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
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
-
- 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
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a full-automatic detection method of a target aircraft safety controller based on a signal threshold technology, wherein the time consumed by the automatic detection system for completing all detection projects once is less than 5 minutes, and the required time cost is greatly reduced. According to the invention, the possible fault reasons of the security controller are analyzed, a fault code mechanism is introduced, each fault reason corresponds to a unique fault code, when faults occur, the automatic detection system sends the fault code to the upper computer, compared with manual detection, the fault reasons can be positioned more quickly, the detection time is saved, the influence of the limitation of visual observation during detection is easily received, the automatic detection system realizes the superposition of the periodic detection and the single detection in the true sense, the comprehensiveness and the instantaneity of the detection of the security controller are improved, the potential faults which cannot be perceived by the manual detection mode can be found, and the accurate detection effect which cannot be achieved by the manual detection is realized.
Description
Technical Field
The invention belongs to the technical field of target machine safety control, and particularly relates to a full-automatic detection method of a target machine safety controller based on a signal threshold technology.
Background
The unmanned drone is a type of unmanned plane for executing special tasks, is mainly used for playing the role of an air target of an enemy in missile weapon development and army combat training, is used as a target of army combat training, and plays a very important role in improving national defense strength. In a pilot trial, the drone typically performs tasks within the planned area. As a large unmanned aerial vehicle, if a fault occurs or if an uncontrolled crash occurs outside the safety area, it may cause immeasurable personnel or property losses to ground cities, key facilities, etc. In order to ensure the safety of the target test, the target machine should be provided with a safety control system, which is called a safety control system for short. The safety control system works independently of the target aircraft, can ensure that the target aircraft is timely controlled to crash when the target aircraft flies abnormally, and reduces threat to ground facilities and personnel. Therefore, as a core component of the security control system, the security controller must work reliably.
The interface of the safety controller of the certain target drone is shown in figure 1, the safety controller is provided with two BD2/GPS positioning information sources which are respectively a flying control BD2/GPS and a safety control BD2/GPS, the two positioning information sources are mutually backed up, the safety controller adopts safety control BD2/GPS positioning information by default, and when the safety control BD2/GPS is continuously not positioned, the safety controller automatically switches to use the flying control BD2/GPS positioning.
The safety controller is respectively communicated with the flight control computer, the measurement and control equipment, the internal Beidou navigation plate and the ground detection equipment through 4 serial ports, and the 4 serial ports are sequentially called a flight control port, a measurement and control port, a safety control GPS port and a ground detection port.
The safety controller plays a very important role when the target aircraft executes a flight task, and the functions and performances of the safety controller need to be comprehensively detected during trial production, production and test.
Currently, the ground detection of the security controller mainly adopts the modes of manual operation, manual monitoring and judgment. The operator needs to detect and record all the functional items of the controller one by one. However, manual detection mainly focuses on single-function detection of the security controller, and periodic detection and aperiodic detection cannot be used for effective superposition test, such as detection of voltage and current of the security controller, which is generally focused and recorded once at the moment of power-on, and real-time monitoring and recording cannot be achieved in the working process. Moreover, the manual detection mode is complex in operation, and an operator is required to manually operate various buttons and observe and record detection results, so that misoperation and error recording of the operator may occur in the detection mode.
Disclosure of Invention
The invention aims to provide a full-automatic detection method of a target aircraft safety controller based on a signal threshold technology, which aims to solve the problems that manual detection is mainly focused on single-function detection of the safety controller, and periodic detection and aperiodic detection cannot be effectively tested in a superposition mode, for example, voltage and current detection of the safety controller are generally focused and recorded once at the moment of power-on, and real-time monitoring and recording cannot be achieved in the working process. Moreover, the manual detection mode is complex in operation, and an operator is required to manually operate various buttons and observe and record detection results, so that the detection mode can have the problems of misoperation and misrecording of the operator.
In order to achieve the above purpose, the present invention provides the following technical solutions: a full-automatic detection method for a target aircraft safety controller based on a signal threshold technology includes the following specific steps:
step one: the automatic detection system of the safety controller controls the on-off operation of the safety controller through a 1-path DO driving relay, and the automatic detection system of the safety controller acquires the current sampling resistor voltage value of the safety controller subjected to conditioning and filtering treatment in real time through a 2-path AD, so as to calculate and acquire instantaneous power-on voltage, instantaneous power-on current, working voltage and working current;
step two: the simulation detection is carried out, the automatic detection system of the safety controller simulates and generates flight control computer information, beidou navigation panel information, measurement and control information and ground detection equipment information, and the flight control computer information, the Beidou navigation panel information, the measurement and control information and the ground detection equipment information are respectively sent to the safety controller through a flight control simulation port, a safety control GPS simulation port, a measurement and control simulation port and a ground detection simulation port;
the automatic detection system of the safety controller receives output information of the safety controller through a flight control simulation port, a measurement and control simulation port and a ground detection simulation port, and comprehensively detects the transmission period and the data continuity of 3 paths of serial ports corresponding to the safety controller; the safety controller automatic detection system periodically collects 2 paths of safety control signals of the safety controller through 2 paths of DI and judges whether the safety controller has misoperation or not;
step three: the method comprises the steps of periodic detection and single-item detection, wherein the security controller performs periodic detection through an automatic detection system, the transmission period and the data continuity of a serial port of the security controller are detected based on a signal threshold technology, the security controller automatic detection system performs single-item function detection, and the detection of the binding/rechecking function and the detection of the security control reset function of a security control area are based on the signal threshold technology;
the automatic detection system of the safety controller encodes and transmits information such as detection progress, detection results, fault codes, detection time and the like to the upper computer, and the automatic detection system of the safety controller controls a red LED lamp and a green LED lamp through 2 paths DO respectively to characterize the detection results;
step four: and in the detection process of the automatic detection system, detection information is sent to the upper computer by taking 50-150ms as a period, wherein the detection information comprises information such as detection progress, detection results, fault codes and detection time, and the upper computer displays and updates the information such as the detection results, the detection progress and the fault codes on an interface.
In any of the above schemes, it is preferable that the automatic detection system sends detection information to the upper computer in a period of 50ms in the detection process.
In any of the above schemes, preferably, in the detection process of the automatic detection system, detection information is sent to the upper computer with a period of 100 ms.
In any of the above schemes, preferably, in the detection process of the automatic detection system, detection information is sent to the upper computer with a period of 150 ms.
Preferably, the method for generating analog information in the second step is as follows:
(1) The automatic detection system of the safety controller periodically simulates and generates the positioning information of the flying control BD2/GPS and the safety control BD2/GPS according to a communication protocol;
(2) The automatic detection system of the safety controller generates a 'safety control area rechecking', 'safety control crash' command and a 'safety control reset' command in a stepping mode according to a communication protocol.
Preferably, the periodic detection in the third step includes periodic detection of the voltage/current of the safety controller, transmission period of the flight control port/ground detection port/measurement and control port of the safety controller, periodic detection of data continuity, and periodic detection of the safety control signal of the safety controller.
Preferably, the single function detection in the fourth step includes security area binding and rechecking detection, femto control BD2/GPS analog state detection, security BD2/GPS analog/physical state detection, autonomous security detection, security reset detection and security crash detection, where the security area binding and rechecking detection is also detected based on a signal threshold technology. When the single function detection is performed, the periodic detection in the third step is performed in a superposition manner, so that the detection effect which cannot be achieved by manual detection is realized.
The invention has the technical effects and advantages that: the single time consumption of all detection projects of the automatic detection system is at most 5 minutes, and the required time is greatly reduced. According to the invention, the possible fault reasons of the security controller are analyzed, a fault code mechanism is introduced, each fault reason corresponds to a unique fault code, when faults occur, the automatic detection system sends the fault codes to the upper computer, and compared with manual detection, the fault reasons can be positioned more quickly, so that the detection time is saved. Meanwhile, the traditional manual detection mode cannot be carried out by overlapping the periodic detection and the single detection in the true sense, and is easily influenced by the limitation of visual observation during detection, and the automatic detection system realizes the overlapping of the periodic detection and the single detection in the true sense, improves the comprehensiveness and the instantaneity of detection of the safety controller, can find potential faults which cannot be perceived by the manual detection mode, and realizes the accurate detection effect which cannot be achieved by the manual detection.
Drawings
Fig. 1 is a schematic diagram of the interface of the controller.
FIG. 2 is a diagram of the interface relationships of the automatic detection system.
Fig. 3 is a flowchart of the optimized median filtering.
Fig. 4 is a flowchart of the overall detection of the automatic detection system.
FIG. 5 is a flow chart of the autonomous security function detection;
FIG. 6 is a schematic diagram of voltage conversion;
fig. 7 is an ADAS3022 chip expansion schematic;
FIG. 8 is a level shifter circuit;
FIG. 9 is a schematic diagram of a 27V to 5V transition;
FIG. 10 is a schematic diagram of 5V rotation.+ -. 15V.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention provides a full-automatic detection method of a target aircraft safety controller based on a signal threshold technology, which is shown in the figure, wherein an automatic detection system is arranged in the safety controller, and the method comprises the following specific steps:
step one: the automatic detection system of the safety controller controls the on-off operation of the safety controller through a 1-path DO driving relay, and the automatic detection system of the safety controller acquires the instantaneous power-on voltage, the instantaneous power-on current, the working voltage and the working current of the safety controller which are subjected to conditioning and filtering treatment in real time through a 2-path AD;
step two: the simulation detection is carried out, the automatic detection system of the safety controller simulates and generates flight control computer information, beidou navigation panel information, measurement and control information and ground detection equipment information, and the flight control computer information, the Beidou navigation panel information, the measurement and control information and the ground detection equipment information are respectively sent to the safety controller through a flight control simulation port, a safety control GPS simulation port, a measurement and control simulation port and a ground detection simulation port;
the automatic detection system of the safety controller receives output information of the safety controller through a flight control simulation port, a measurement and control simulation port and a ground detection simulation port, and comprehensively detects the transmission period and the data continuity of 3 paths of serial ports corresponding to the safety controller; the automatic detection system of the safety controller periodically collects 2 paths of safety control signals of the safety controller through 2 paths of DI (direct digital) to judge whether the safety controller has misoperation or not, and the method for generating the simulation information in the second step is as follows:
(1) The automatic detection system of the safety controller periodically simulates and generates the positioning information of the flying control BD2/GPS and the safety control BD2/GPS according to a communication protocol;
(2) The automatic detection system of the safety controller generates a safety control area rechecking instruction, a safety control crash instruction and a safety control resetting instruction in a stepping mode according to a communication protocol;
step three: the method comprises the steps of periodically detecting and single-phase detecting, wherein the safety controller detects the sending period and data continuity of a serial port of the safety controller based on a signal threshold technology, the automatic safety controller detecting system detects single-phase functions, binding/rechecking function detection and safety control reset function detection of a safety control area are based on the signal threshold technology, and the periodic detecting in the third step comprises the periodic detection of voltage/current of the safety controller, the sending period of a flight control port/ground detection port/measurement and control port of the safety controller, the periodic detection of data continuity and the periodic detection of safety control signals of the safety controller;
the automatic detection system of the safety controller encodes and transmits information such as detection progress, detection results, fault codes, detection time and the like to the upper computer, and the automatic detection system of the safety controller controls a red LED lamp and a green LED lamp through 2 paths DO respectively to characterize the detection results;
step four: the detection information is sent to the upper computer by taking 100ms as a period in the detection process of the automatic detection system, the detection information comprises information such as detection progress, detection results, fault codes and detection time, the upper computer displays and updates the information such as the detection results, the detection progress and the fault codes on an interface, and the single-function detection in the fourth step comprises security control area binding check detection, flying control BD2/GPS simulation state detection, security control BD2/GPS simulation/physical state detection, autonomous security control detection, security control reset detection and security control destruction detection. The security area binding/rechecking detection is also based on a signal threshold technique. When the single function detection is performed, the periodic detection in the third step is performed in a superposition manner, so that the detection effect which cannot be achieved by manual detection is realized.
Working principle: the safety controller is powered by direct current 27V, and a heating circuit is designed in order to ensure that the safety controller can work normally at the low temperature of-40 ℃, and can automatically start to work when the ambient temperature meets the heating condition. When the heating plate does not work, the instantaneous current and the steady-state current are not more than 1A, when the heating plate works, the current of the safety controller is not more than 3A, the voltage of the default safety controller is in a 27V (1+/-10%) interval during detection, the current is less than 1A when the heating plate does not work, and the current is less than 3A when the heating plate works. When detecting, the automatic switch of the automatic detection system is switched on, the automatic detection system receives a detection start signal shown in fig. 2, the safety controller is controlled to be electrified through the 1-path DO driving relay, the heating plate does not work during electrifying, the automatic detection system acquires the electrifying instantaneous voltage and current of the safety controller during electrifying, the instantaneous voltage and the current are respectively recorded as sum, and if the sum meets the following inequality
And continuing to detect, otherwise, generating a high-level signal by the automatic detection system to drive the relay to cut off the power supply of the safety controller.
In order to reduce the influence of noise on voltage and current collection, the collected voltage and current are subjected to software filtering by adopting an optimized median filtering method, and the specific method is as follows:
(1) Firstly, defining two arrays with the length of 10 for storing the voltage and current values acquired each time;
(2) The voltage and current of the safety controller are collected in a period of 2ms, 10 groups of data are collected each time and are respectively stored in corresponding arrays, and the data in the two arrays are subjected to software filtering by adopting an optimized median filtering method and then are used as the voltage and current values collected at the time;
(3) And judging the voltage and current values after filtering, if the voltage and current values exceed the threshold value, controlling the safety controller to cut off the power, otherwise, continuing to detect.
The optimized median filtering step in the step (2) is as follows, taking the optimized median filtering of voltage acquisition as an example:
(1) Firstly, sequencing data in an array;
(2) After the sorting is completed, removing the largest two values and the smallest two values, and averaging the rest six values;
(3) And judging the average value based on the optimized signal threshold technology.
The optimized median filtering flow chart is shown in fig. 3, and the optimized median filtering method has good inhibition effect on periodic interference and can weaken random interference of abnormal noise.
Step 2: after the instantaneous voltage and current of the power-on of the safety controller are detected correctly, the automatic detection equipment respectively sends the simulated Beidou navigation panel information and the simulated flight control computer information in a period of 100ms through the safety control simulation port and the flight control simulation port according to a communication protocol.
Step 3: after the automatic detection switch is pressed for 8 seconds, the subsequent detection is started, and the method mainly comprises periodic detection and single-function detection. The periodic detection comprises periodic detection of working voltage/working current of the safety controller, periodic detection of a flight control port/ground detection port/measurement and control port of the safety controller and periodic detection of a safety control signal of the safety controller. Compared with the step 1, the detection of the power supply voltage and the current of the safety controller has more judgment on whether the heating plate is in a working state. The working current of the heating plate can be calculated to be 1.8A according to the hardware circuit, so that whether the heating plate works can be judged by judging the current increasing amplitude of the controller. Also adopt signal threshold technique to judge whether the increase range of the current of the security controller is about 1.8A, specifically: the heating plate does not work in the initial state, the detected current is compared with the current detected last time, if the difference is larger than 1.7A and smaller than 1.9A, the count is increased by 1, meanwhile, the detection of the current of the safety controller is stopped, the next detected current is continuously differed from the current detected this time, if the difference is still larger than 1.7A and smaller than 1.9A, the count is increased by 1, otherwise, the count is cleared, the heating plate is still not work, the current threshold of the safety controller is still 1A, the current of the safety controller is continuously detected, if the count is larger than or equal to 3, the heating plate is considered to be in the working state, the current threshold of the safety controller is set to 3A, and meanwhile, the current of the safety controller is continuously detected. Similarly, when the heating plate is in the working state, the thought can be used for judging whether the heating plate stops working, and if the heating plate is judged to stop working, the current threshold of the controller is reset to be 1A.
The transmission period and the data continuity periodic detection of the flight control port/the ground detection port/the measurement and control port of the safety controller are specifically as follows: setting the interval threshold of the data transmission intervals of the flight control port/the ground detection port/the measurement and control port of the safety controller to be 1 second, timing the data frame receiving intervals of the three serial ports by the automatic detection system through a timer, clearing the timer when new effective data frames are received each time, and considering that the serial port transmission is abnormal and recording the abnormality if the timing exceeds 1 second, namely, the effective data is not received continuously for 1 second. The periodic detection of the security control signal of the security controller is specifically as follows: 2 paths of security control signals of the security controller are collected every 500ms, and whether the security control signals have errors or not is judged by combining the state of the current security controller.
The single detection comprises security area binding/rechecking detection, autonomous security detection, security reset detection and security crash detection. The binding/rechecking detection of the security control area specifically comprises the following steps: the automatic detection system reads out the coordinate data of the security control area from the FLASH of the detection system, and after all the data are read out, the coordinate data of the security control area are sent to the security controller through the ground detection simulation port according to the binding protocol. And after the transmission is finished and waits for 200ms, a 'security control area rechecking' instruction is transmitted through the ground checking port, security control area rechecking data transmitted by the security controller is received through the ground checking port, and the security control area binding rechecking function is detected by comparing the security control area coordinates in the rechecking data with the bound original security control area coordinates. By comparing the two differences, considering that the accuracy loss is possible during writing and reading, the threshold value of the absolute value of the difference between the recheck data and the original data is preset to be 0.00001 in the program, and if the difference between the recheck data and the original data of a certain coordinate exceeds the preset threshold value, the binding error is considered.
The autonomous security control detection specifically comprises the following steps: the autonomous safety control function of the safety controller means that the safety controller judges whether the target drone is located in a safety control area according to BD2/GPS real-time navigation positioning information, and if the target drone flies out of the safety control warning area for 10 seconds, the safety controller outputs an automatic safety control signal to control the target drone to crash. Due to condition limitations, this function is detected in a manner simulating flight. The automatic detection system respectively sends simulated flight data frames by taking 100ms as a period through the safety control simulation port and the flight control simulation port, longitude in the simulated data frames is kept unchanged, each frame of latitude data is increased by 0.00025 degrees, the simulated target aircraft flies to the north at a constant speed of about 280m/s, and meanwhile, the automatic detection system judges whether the autonomous safety control function is normal or not by solving measurement and control data of the safety controller and collecting safety control signals. The specific flow of autonomous security control detection is shown in fig. 5.
The security control reset detection specifically comprises the following steps: the safety control reset function is that the ground sends a safety control reset instruction to the safety controller through the measurement and control equipment by the measurement and control link, and after the safety controller receives the safety control reset instruction, the timer is completely cleared, the status word is reset, and the state of the safety control early warning area is returned. When the function is detected and changed, the automatic detection system sends a simulation safety control reset instruction through the measurement and control simulation port according to a communication protocol, starts timing while sending the instruction, and solves measurement and control data of the safety controller to judge whether the safety controller executes the safety control reset instruction or not, and further judges whether the reset state of the safety controller lasts for 1 minute or not. Similarly, the safety control reset state duration threshold is set to 59 seconds, if the safety control reset state duration is detected to be more than or equal to 59 seconds, the duration is considered to be satisfactory, otherwise, the duration is considered to be too short.
The safety control crash detection is used for detecting a manual safety control function of the safety controller, the ground station sends a safety control crash instruction to the airborne safety controller through the Beidou short message, and the safety controller receives and executes the instruction and outputs 2 paths of safety control signals to control the target drone to crash. When the function is detected, the automatic detection system sends a safety control crash instruction through the simulation safety control port, and after the automatic detection system sends the instruction for 1 second, the automatic detection system judges whether the safety controller executes the safety control crash instruction in a mode of calculating measurement and control data of the safety controller and collecting safety control signals.
The periodic detection and the single function detection are overlapped, namely, the periodic detection is performed while the single function is detected, so that each state of the security controller can be monitored in real time.
Step 4: in the detection process of the automatic detection system, detection information is sent to an upper computer by taking 100ms as a period, wherein the detection information comprises information such as detection progress, detection results, fault codes, detection time and the like, and the upper computer displays and updates the information such as the detection results, the detection progress, the fault codes and the like on an interface;
the automatic detection system of the safety controller of the automatic detection system specifically takes a main control chip as a core, performs data exchange with the safety controller through a serial port, performs information acquisition and processing through AD, DI/DO and the like, performs operation on received data and acquired information through the main control chip to obtain a detection result, and gradually realizes detection of the safety controller. The hardware of the automatic detection system of the security controller consists of a motherboard, a serial port board and a power panel. Based on the principle of easy disassembly and convenient maintenance, the automatic detection system hardware adopts a stack architecture. When in use, the motherboard, the serial port board and the power panel are connected through the power line and the signal bus. The main board integrates a main control chip STM32F767ZIT and peripheral circuits thereof, and also expands an analog-to-digital conversion chip ADAS3022 which is used for collecting voltage and current of the safety controller. And an 8-way universal serial interface is integrated on the serial port board. 8. The road serial port is converted into a corresponding RS232/RS422 interface through the serial port conversion chip and is respectively used for communicating with a ground detection port, a measurement and control port, a flight control port, a security control GPS port, an upper computer, a debugging computer and the like of the security controller. The power supply voltages of all parts of the automatic detection system are different, the main control chip STM32F767ZIT adopts 3.3V power supply, the external expansion ADAS3022 analog-to-digital conversion chip adopts +/-15V power supply, and the security controller adopts 27V power supply. The power panel is used for converting an external 220V alternating current power supply into a required voltage and performing filtering treatment, and supplying power to the automatic detection system through a power line.
3.1 Motherboard design
The design of the motherboard mainly comprises the main control chip selection and the expansion of an analog-to-digital conversion chip ADAS 3022.
3.1.1 Master control chip selection
The main control chip is a core component of the automatic detection system and is mainly responsible for sending test signals to other modules and receiving feedback information. STM32F767ZIT6 was chosen herein as the detection
The master control chip of the system has abundant chip resources, supports a plurality of interfaces such as UART, SPI and the like, has abundant timer resources and can meet design requirements. STM32F767ZIT chip is from taking large capacity FLASH chip, can satisfy the storage requirement of security control district, need not the external memory. The STM32F767ZIT chip adopts 3.3V power supply, part of peripheral devices adopts 5V power supply, the AMS1084 chip converts 5V voltage into 3.3V to realize unified power supply of the peripheral devices and the main control chip, and a 5V-to-3.3V schematic diagram is shown in the following figure 6.
3.1.2 Analog-to-digital conversion extension
The analog-to-digital conversion module is used for collecting voltage and current of the controller. Because the internal ADC of the STM32F767ZIT processor is only 12 bits and cannot meet the precision requirement, a high-performance ADC chip, namely an ADAS3022 high-speed low-power consumption analog-digital conversion chip, is expanded outside the main control chip. The chip has 8 channels, is internally provided with a temperature sensor, has 16-bit precision and can meet the design requirement. To achieve low drift, low noise, and high accuracy targets, ADR434 is used herein as an external reference voltage source for the ADAS3022 chip. The ADAS3022 has the advantages that the serial ports of data input and output are compatible with the SPI bus, only 4 wires are occupied on the chip pins, and the serial ports have fewer connecting wires and good expansibility. The ADAS3022 chip is mounted on the SPI2 bus of the main control chip, and a circuit diagram of a hardware interface is shown in fig. 7:
3.2 Serial port board design
The serial ports of STM32F767 serial chips follow TTL level logic, and the serial ports of the controllers adopt RS232/RS422 level, so that corresponding level conversion is needed for realizing interconnection of the STM32F767 serial chips. The design is based on a conversion module of MAX3232 and MAX490 conversion chips, and the TTL level of the main control chip is converted into the RS232 level and the RS422 level respectively. Taking UART conversion RS232 as an example, MAX3232 is selected as a conversion chip, and the chip is powered by +3V+5.5V single power supply, consumes 0.3mA and has lower power consumption compared with the traditional MAX232 chip. The MAX3232 chip can convert 2-way UART, and UART5 and UART8 level conversion circuits of STM32F767ZIT6 are shown in FIG. 8:
3.3 Power panel design
A special power panel is designed for supplying power to all components of the automatic detection system. The automatic detection system is powered by alternating current 220V, and the 220V alternating current is converted into 27V direct current through a finished AC/DC module to automatically use and convert secondary power supply for each component of the detection system. In addition to 27V dc power to the controller, the automatic detection system also needs to supply 5V power to the master control chip STM32F767ZIT and ±15v power to the analog-to-digital conversion chip ADAS 3022. The 5V power supply is obtained by converting 27V through an XR10/24S05 type DC/DC isolation wide voltage single power supply module, and the principle is shown in figure 9; the +/-15V power supply is obtained through conversion of 5V through a 115D5HFS type single/double output DC/DC voltage conversion module, and the principle is shown in figure 10.
4. Automatic detection software design
The automatic detection software is embedded software and is responsible for controlling the detection flow of the automatic detection system, analyzing and processing the detection result and outputting and displaying the detection result. The automatic detection system software development environment of the security controller is Keiluvision5. The software adopts modularized programming and consists of an initialization module, a hardware bottom layer interface module, an automatic detection module and a setting and monitoring module. The initialization module is mainly responsible for initializing used variables, parameters and system hardware; the hardware bottom layer interface module provides a drive and interface for calling bottom layer hardware for the upper layer application, so that development is facilitated; the automatic detection module realizes the automatic detection of the performance and the function of the security controller; the setting and monitoring module realizes the functions of binding and rechecking of the security control area, monitoring of detection results and the like.
Obtaining a result through actual detection, in order to eliminate unstable factors in a system and improve the coverage of the test, the test is divided into two types, the first type of test is to select a safety controller model machine with normal working state as a tested object, and full-automatic detection is carried out and the detection result is recorded; the second type of test is based on the first type, a fault injection method is adopted for part of detection projects to simulate real fault conditions, and if the injected faults can be completely detected, the full-automatic detection system designed in the method is considered to meet the requirements. The two types of test results are shown in table 1 and table 2, and as can be seen from table 1 and table 2, for the normal-function safety controller, the automatic detection system can detect and pass through, and for the injection fault safety controller, the automatic detection system can detect the injection fault and automatically complete the detection of each function of the safety controller, and the single time consumption of all detection projects is at most 5 minutes, so that the required time is greatly reduced compared with the manual detection mode.
The automatic detection system developed in the invention can realize full-automatic detection of the security controller, accurately identify and alarm fault items in detection, and achieve the expected detection purpose;
TABLE 1 detection results under normal conditions
Table 2 fault injection detection results
Finally, it should be noted that: the foregoing description is only illustrative of the preferred embodiments of the present invention, and although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements or changes may be made without departing from the spirit and principles of the present invention.
Claims (4)
1. The utility model provides a full-automatic detection method of target aircraft safety controller based on signal threshold technique, includes safety controller, detects the machine and connects at least one cable between safety controller and the machine, its characterized in that: an automatic detection system is arranged in the detection machine and is connected with the security controller through the cable, and the detection machine is externally connected with a mobile terminal, and the specific steps are as follows:
step one: the automatic detection system of the safety controller controls the on-off operation of the safety controller through a 1-path D0 driving relay, and the automatic detection system of the safety controller acquires the current sampling resistor voltage value of the safety controller subjected to conditioning and filtering treatment in real time through a 2-path AD, so as to calculate and acquire instantaneous power-on voltage, instantaneous power-on current, working voltage and working current;
step two: the simulation detection is carried out, the automatic detection system of the safety controller simulates and generates flight control computer information, beidou navigation panel information, measurement and control information and ground detection equipment information, and the flight control computer information, the Beidou navigation panel information, the measurement and control information and the ground detection equipment information are respectively sent to the safety controller through a flight control simulation port, a safety control GPS simulation port, a measurement and control simulation port and a ground detection simulation port;
the automatic detection system of the safety controller receives output information of the safety controller through a flight control simulation port, a measurement and control simulation port and a ground detection simulation port, and comprehensively detects the transmission period and the data continuity of 3 paths of serial ports corresponding to the safety controller; the safety controller automatic detection system periodically collects 2 paths of safety control signals of the safety controller through 2 paths of DI and judges whether the safety controller has misoperation or not;
step three: the method comprises the steps of periodic detection and single-item detection, wherein the security controller performs periodic detection through an automatic detection system, the transmission period and the data continuity of a serial port of the security controller are detected based on a signal threshold technology, the security controller automatic detection system performs single-item function detection, and the detection of the binding/rechecking function and the detection of the security control reset function of a security control area are based on the signal threshold technology;
the automatic detection system of the safety controller encodes and transmits information such as detection progress, detection results, fault codes, detection time and the like to the upper computer, and the automatic detection system of the safety controller controls a red LED lamp and a green LED lamp through 2 paths of D0 respectively to represent the detection results;
step four: and in the detection process of the automatic detection system, detection information is sent to the upper computer by taking 50-150ms as a period, wherein the detection information comprises information such as detection progress, detection results, fault codes and detection time, and the upper computer displays and updates the information such as the detection results, the detection progress and the fault codes on an interface.
2. The full-automatic detection method for the target aircraft safety controller based on the signal threshold technology as claimed in claim 1, wherein the method comprises the following steps: the method for generating the simulation information in the second step is as follows:
(1) The automatic detection system of the safety controller periodically simulates and generates the positioning information of the flying control BD2/GPS and the safety control BD2/GPS according to a communication protocol;
(2) The automatic detection system of the safety controller generates a 'safety control area rechecking', 'safety control crash' command and a 'safety control reset' command in a stepping mode according to a communication protocol.
3. The full-automatic detection method for the target aircraft safety controller based on the signal threshold technology as claimed in claim 1, wherein the method comprises the following steps: the periodic detection in the third step comprises the periodic detection of the voltage/current of the safety controller, the transmission period of the flight control port/ground detection port/measurement and control port of the safety controller, the periodic detection of the data continuity and the periodic detection of the safety control signal of the safety controller.
4. The full-automatic detection method for the target aircraft safety controller based on the signal threshold technology as claimed in claim 1, wherein the method comprises the following steps: the single function detection in the fourth step comprises binding check detection of a security control area, flying control BD2/GPS simulation state detection, security control BD2/GPS simulation/physical state detection, autonomous security control detection, security control reset detection and security control crash detection. The security area binding/rechecking detection is also based on a signal threshold technique. When the single function detection is performed, the periodic detection in the third step is performed in a superposition manner, so that the detection effect which cannot be achieved by manual detection is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211691714.2A CN116520791A (en) | 2022-12-27 | 2022-12-27 | Full-automatic detection method for target aircraft safety controller based on signal threshold technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211691714.2A CN116520791A (en) | 2022-12-27 | 2022-12-27 | Full-automatic detection method for target aircraft safety controller based on signal threshold technology |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116520791A true CN116520791A (en) | 2023-08-01 |
Family
ID=87405291
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211691714.2A Pending CN116520791A (en) | 2022-12-27 | 2022-12-27 | Full-automatic detection method for target aircraft safety controller based on signal threshold technology |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116520791A (en) |
-
2022
- 2022-12-27 CN CN202211691714.2A patent/CN116520791A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103091573B (en) | The method of testing of air conditioner, Apparatus and system | |
| CN107070762B (en) | Fault detection and switching method considering 1553B double-bus network performance monitoring | |
| CN107255918A (en) | A kind of remote control computer hot backup redundancy control method for automatically switching | |
| CN107991900B (en) | Simulation and self-healing method for latent and hidden faults of Antarctic telescope on semi-physical simulation platform | |
| CN202372581U (en) | Testing device and system for air conditioner | |
| CN101806857A (en) | Online fault diagnostic apparatus for circuit board | |
| CN107844113A (en) | A kind of rail vehicle braking system debugging monitoring system and debugging monitoring method | |
| CN107065837A (en) | Simulation test platform, automatic simulation test system and method for testing | |
| CN102890502A (en) | Off-line detection device and detection method of anti-lock brake system electronic control unit | |
| CN106249088A (en) | A kind of spacecraft priming system circuit electronics equivalence test device | |
| CN110058580B (en) | Novel wheel type self-propelled gun electrical system comprehensive diagnosis platform | |
| CN111984479A (en) | Method and system for carrying out startup and shutdown and restart tests on Android mainboard based on single chip microcomputer | |
| CN110988654A (en) | Device and method for PCBA program burning and impedance testing | |
| CN105159280A (en) | Loader intelligent maintenance method supporting remote diagnosis | |
| CN205982541U (en) | Solar array drive circuit test system | |
| CN103365289B (en) | Wireless distributed power source aging test monitoring method and system | |
| CN103364742B (en) | Sub-circuit board of testing and monitoring system of aged vehicle | |
| CN112925705B (en) | Unmanned-duty-based carrier rocket flight software acceptance method and system | |
| CN116520791A (en) | Full-automatic detection method for target aircraft safety controller based on signal threshold technology | |
| CN101763097A (en) | Quality flow controller/ageing measurement monitoring system | |
| CN203825463U (en) | System for automatically testing signal system of subway train | |
| CN202795047U (en) | Anti-lock brake system controller off-line detection device | |
| CN207096801U (en) | Simulation test platform, automatic simulation test system | |
| CN112947124B (en) | Rocket semi-physical simulation test system | |
| CN106814728A (en) | A kind of assembly detection apparatus based on product power supply interface sequential logic |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |