CN116661331A - Redundant flight control computer system utilizing software and hardware cooperation - Google Patents
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Abstract
The application discloses a redundancy flight control computer system utilizing software and hardware coordination, which relates to the technical field of redundancy flight control and comprises the following components: the system comprises a sensor module, a flight control calculation module, a central control module, a communication module, a power management module and an actuator module; the sensor module is used for acquiring flight data of the aircraft; the flight control calculation module comprises a first flight control computer, a second flight control computer and a redundant flight control computer; the central control module is used for processing signals and instructions from each module and issuing commands; the actuator module is used for controlling the movement of the aircraft; the communication module is used for exchanging data and communicating with the ground operating rod and other aircrafts; the power management module is used for controlling and managing the power supply and power supply state of the flight control system. The application can help to eliminate errors of a single computer, and if one computer fails, other computers can also continue to work, so that the reliability and stability of the system are ensured.
Description
Technical Field
The application relates to the technical field of redundancy flight control, in particular to a redundancy flight control computer system utilizing software and hardware cooperation.
Background
Traditional flight control computer systems fail to operate properly in the event of a failure and fail to meet the needs of certain fast response and emergency situations. In recent years, with development and application of information technology, redundant flight control computer systems are widely applied, and redundant flight control computer systems adopt redundant designs, namely, a plurality of independent computing units perform data computation and decision, and once one computing unit fails, other computing units still can normally operate, so that flight safety and reliability are improved.
In the chinese application of application publication No. CN 114610074A, a redundancy flight control system suitable for a multi-rotor unmanned aerial vehicle and a multi-rotor unmanned aerial vehicle are disclosed, which include a redundancy arbitration computer, a redundancy switching computer, and a plurality of flight control computing units. Each flight control computing unit comprises a flight control computer, a plurality of IMUs, a plurality of magnetic compasses, a plurality of barometers and a plurality of GPS modules. The redundancy judging computer is responsible for receiving all the sensor data acquired by the flight control computer and all the PWM value data captured by the redundancy switching computer, analyzing and deciding to select an optimal flight control computing unit, and sending the serial number of the flight control computing unit to the redundancy switching computer. And after receiving the serial number of the optimal flight control calculation unit, the redundant computer outputs the PWM value of the flight control computer in the unit to the motor executing mechanism. Through the multiple redundancy structure of the sensor and the flight control computer, the unmanned aerial vehicle has stronger disaster recovery and fault tolerance performance, so that the safety and stability of the unmanned aerial vehicle in a flight task can be improved.
In the application of the application, the flight control system has stronger disaster tolerance and fault tolerance performance through the multi-redundancy structure of the sensor and the flight control computer, so that the safety and stability of the unmanned aerial vehicle in a flight task can be improved, but in the actual use process, the load of the unmanned aerial vehicle can be increased when a plurality of computers are loaded on the unmanned aerial vehicle, meanwhile, the energy consumption can be increased when the computers calculate, the unmanned aerial vehicle becomes heavy and has short duration, and therefore, the consideration of the redundancy is insufficient, and the actual application condition is also required.
Disclosure of Invention
Aiming at the defects of the prior art, the application provides a redundancy flight control computer system utilizing software and hardware cooperation.
In order to achieve the above purpose, the application is realized by the following technical scheme: a redundancy fly-control computer system utilizing software and hardware coordination, comprising: the system comprises a sensor module, a flight control calculation module, a central control module, a communication module, a power management module and an actuator module;
the sensor module is used for acquiring the position, speed, acceleration, angular velocity and magnetic field information of the aircraft, and constructing a flight database, wherein the position and the speed are obtained through a global positioning system (Global Positioning System, GPS), the acceleration and the angular velocity are detected through an inertial measurement unit (Inertial Measurement Unit, IMU), and the magnetic field information is detected through a magnetometer.
The flight control calculation module comprises a first flight control computer, a second flight control computer and a redundant flight control computer, wherein all flight control computers have the same hardware structure and system software, and the first flight control computer and the second flight control computer respectively analyze and process flight data from the sensor module to obtain a first flight instruction, a first check code, a second flight instruction and a second check code; the redundant flight control computer is in a dormant state under the condition that the first flight control computer and the second flight control computer work normally, and after receiving a working instruction sent by the central control module, the redundant flight control computer analyzes and processes flight data from the sensor module to obtain a third flight instruction and a third check code;
the central control module is used for receiving, analyzing and processing signals and instructions from each module, making decisions and issuing commands, and monitoring and managing the operation of the whole redundancy flight control computer system so as to realize the overall control and scheduling of the redundancy flight control computer system;
the actuator module is used for controlling the movement of the aircraft, comprises a steering engine, a motor driver and an electric regulator, and controls the gesture and the movement of the aircraft by receiving the instruction from the central control module;
the communication module is used for carrying out data exchange and communication with the ground operation rod and other aircrafts, and comprises a data transmission unit, a radio modem, wiFi and Bluetooth, so that the data link with the ground operation rod and the information exchange between the aircrafts are realized;
the power management module is used for controlling and managing the power supply and power supply state of the flight control system, and comprises battery management, power supply conversion and power supply protection functions, so that the normal work of the flight control system and the executor is ensured.
Further, position and velocity are detected by a global positioning system (Global Positioning System, GPS), acceleration and angular velocity are detected by an inertial measurement unit (Inertial Measurement Unit, IMU), and magnetic field information is detected by a magnetometer.
Furthermore, the hardware structure of the flight control computer comprises a Central Processing Unit (CPU), a memory (RAM), a Graphics Processing Unit (GPU), a communication bus and an I/O interface;
further, the system software of the flight control computer comprises a flight calculation program and an instruction verification program, wherein the flight calculation program uses a supervised learning algorithm to construct a flight prediction model of the aircraft, after sample data training and testing, the flight prediction model is output, and the flight prediction model is used for planning the track and the flight state of the aircraft to obtain an instruction required to be sent when the aircraft reaches a designated position; the instruction checking program sums all data in the instruction by bits for the instruction from the flight calculation program using a checksum method, and takes the low order bytes of the result as a check code.
Further, the central control module checks the first check code and the second check code when receiving the first flight instruction, the first check code, the second flight instruction and the second check code sent by the flight control calculation module, and selects different decisions according to different check results;
further, if the first check code and the second check code are both correct, performing error analysis on the first flight command and the second flight command, and rotating the motor in the first flight commandAnd motor speed in the second flight command +.>After dimensionless treatment, the parameters are correlated to form a variance->The correlation formula is as follows:
；
wherein n is the total number of motors on the aircraft,for the speed of the i-th motor in the first command, is>The rotation speed of the ith motor in the second command.
Further, the central control module is used for controlling the central control module according to the varianceThe size selection of the instruction is different from the size selection of the preset threshold, specifically:
when variance isWhen the first flight instruction does not exceed the preset threshold value, the central control module outputs the first flight instruction to the executor module;
when variance isWhen the working instruction exceeds a preset threshold, the central control module sends a working instruction to the redundant computer, the redundant computer carries out verification calculation on flight data after receiving the working instruction to obtain a third flight instruction and a third check code, the central control module carries out error analysis on the third flight instruction and the first flight instruction and the second flight instruction according to the third flight instruction and the third check code to obtain a first error value and a second error value, and the first error value and the second error value are compared with the preset threshold respectively.
If the first error value and the second error value are smaller than the preset threshold value, the central control module outputs a third flight instruction to the executor module; if one of the first error value or the second error value is larger than a preset threshold value, the central control module sends an instruction to the flight control calculation module, so that the flight control computer corresponding to the error value larger than the preset threshold value stops working, and the original working is replaced by the redundant flight control computer; if the first error value and the second error value are both larger than the preset threshold value, the central control module does not receive the instruction from the flight control calculation module any more and sends an instruction for switching to the operating lever to the communication module;
further, when the first check code and the second check code are both wrong, the central control module sends a working instruction to the redundant computer, the redundant computer performs verification calculation on the flight data after receiving the working instruction to obtain a third flight instruction and a third check code, and the third flight instruction and the third check code obtained through calculation are transmitted to the central control module.
The central control module firstly carries out verification on the third verification code, and if the verification is not passed, a request for switching to the control lever is sent to the communication module; and if the verification passes, outputting a third flight instruction to the actuator module.
Further, when the first check code or the second check code is wrong, the central control module outputs a flight instruction corresponding to the correct check code to the executor module, and sends an instruction to the flight control calculation module, so that the flight control computer corresponding to the wrong check code stops working, and the original working is replaced by using the redundant flight control computer.
Further, when the battery power of the aircraft is lower than a preset threshold value, the battery management module sends out battery power shortage early warning to the central control module, and after the central control module receives the early warning, the central control module sends out battery power shortage early warning to the communication module and requests to switch to the operation of the control lever.
The application provides a redundant flight control computer system utilizing software and hardware cooperation, which has the following beneficial effects:
1. through setting up a plurality of flight control computers, can be when certain flight control computer breaks down, automatic switch to standby computer to improve whole flight control system's reliability and fault-tolerant ability, greatly reduced accident's risk, this kind of redundant design can reduce the emergence of single-point trouble, guarantees the steady operation of whole flight control system.
2. The flight data are calculated for many times through a plurality of flight control computers, error analysis is carried out, reliability and accuracy of calculation results can be evaluated, errors or abnormal data of a single computer can be eliminated, calculation accuracy is improved, meanwhile, potential problems can be found due to differences among the computers, if one computer fails, other computers can continue to work, and reliability and stability of the system are guaranteed.
Drawings
FIG. 1 is a schematic diagram of a redundant flight control computer system utilizing software and hardware coordination according to the present application;
FIG. 2 is a flowchart of a software and hardware coordinated redundancy flight control computer system when both the first check code and the second check code are in error, according to an embodiment of the present application;
FIG. 3 is a flowchart of a software and hardware coordinated redundancy flight control computer system when the first check code or the second check code is in error according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application 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 application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Referring to fig. 1, the present application provides a redundancy flight control computer system using software and hardware cooperation, comprising: the system comprises a sensor module, a flight control calculation module, a central control module, a communication module, a power management module and an actuator module;
the sensor module is used for acquiring position, speed, acceleration, angular speed and magnetic field information of the aircraft and constructing a flight database, wherein the position and the speed receive signals of a plurality of satellites through a global positioning system (Global Positioning System, GPS) to obtain longitude, latitude, altitude and other information of the aircraft, and further calculate the position and the speed of the aircraft; the acceleration and the angular velocity are detected by an inertial measurement unit (Inertial Measurement Unit, IMU) consisting of an accelerometer and a gyroscope, which obtains the acceleration and the angular velocity of the unmanned aerial vehicle by measuring the linear acceleration and the angular velocity of the object; the magnetic field information is detected by a magnetometer, which is used for measuring the intensity and direction of the earth magnetic field or other magnetic fields, and can be used for judging the azimuth or attitude information of the unmanned aerial vehicle.
The flight control calculation module comprises a first flight control computer, a second flight control computer and a redundant flight control computer, wherein all flight control computers have the same hardware structure and system software, and the first flight control computer and the second flight control computer respectively analyze and process flight data from the sensor module to obtain a first flight instruction, a first check code, a second flight instruction and a second check code; the redundant flight control computer is in a dormant state under the condition that the first flight control computer and the second flight control computer work normally, and after receiving a working instruction sent by the central control module, the redundant flight control computer analyzes and processes flight data from the sensor module to obtain a third flight instruction and a third check code.
The hardware structure of the flight control computer comprises a Central Processing Unit (CPU), a memory (RAM), a Graphics Processing Unit (GPU), a communication bus and an I/O interface; the Central Processing Unit (CPU) is the core of the computer and is responsible for executing computer instructions, controlling and coordinating the work of each hardware component; the memory (RAM) is used for temporarily storing programs and data running on the computer, and the CPU can directly access the memory so as to accelerate the reading and writing speed of the data;
a Graphics Processing Unit (GPU) is responsible for processing the graphic and image output of a computer and can accelerate the graphic and video processing; the communication bus is used for connecting all computer components and can transmit data and control signals among all components in the computer; the I/O interface converts input and output signals of the external device into a data format which can be processed by a computer, and converts data of the computer into a signal format which can be received by the external device;
the system software of the flight control computer comprises a flight calculation program and an instruction verification program, wherein the flight calculation program uses a supervised learning algorithm to construct a flight prediction model of the aircraft, and after sample data training and testing, the flight prediction model is output, and the flight prediction model is used for planning the track and the flight state of the aircraft to obtain an instruction required to be sent by the aircraft to reach a designated position; the instruction checking program sums all data in the instruction by bits for the instruction from the flight calculation program using a checksum method, and takes the low order bytes of the result as a check code.
The central control module is used for receiving, analyzing and processing signals and instructions from each module, making decisions and issuing commands, and monitoring and managing the operation of the whole redundant flight control computer system so as to realize the overall control and scheduling of the redundant flight control computer system.
The actuator module is used for controlling the movement of the aircraft, comprises a steering engine, a motor driver and an electric regulator, and controls the gesture and the movement of the aircraft by receiving the instruction from the central control module.
The communication module is used for carrying out data exchange and communication with the ground operation rod and other aircrafts, and comprises a data transmission unit, a radio modem, wiFi and Bluetooth, so that the data link with the ground operation rod and the information exchange between the aircrafts are realized.
The power management module is used for controlling and managing the power supply and power supply state of the flight control system, and comprises battery management, power supply conversion and power supply protection functions, so that the normal work of the flight control system and the executor is ensured.
As a preferred embodiment, the central control module in the embodiment of the application checks the first check code and the second check code when receiving the first flight instruction and the first check code and the second flight instruction and the second check code sent by the flight control calculation module, and selects different decisions according to different check results.
As shown in FIG. 1, as a preferred embodiment, if the first check code and the second check code are both correct, error analysis is performed on the first flight command and the second flight command, and the motor rotation speed in the first flight command is determinedAnd motor speed in the second flight command +.>After dimensionless treatment, the parameters are correlated to form a variance->The correlation formula is as follows:
；
wherein n is the total number of motors on the aircraft,for the speed of the i-th motor in the first command, is>The rotation speed of the ith motor in the second command.
The central control module is based on the varianceThe size selection of the instruction is different from the size selection of the preset threshold, specifically:
when variance isWhen the first flight instruction does not exceed the preset threshold value, the central control module outputs the first flight instruction to the executor module;
when variance isWhen the working instruction exceeds a preset threshold value, the central control module sends a working instruction to the redundant computer, the redundant computer carries out verification calculation on flight data after receiving the working instruction to obtain a third flight instruction and a third check code, the central control module carries out error analysis on the third flight instruction and the first flight instruction and the second flight instruction respectively according to the third flight instruction and the third check code to obtain a first error value and a second error value, and carries out error analysis on the first error value and the second error value respectively with the preset threshold valueAnd (5) comparing.
If the first error value and the second error value are smaller than the preset threshold value, the central control module outputs a third flight instruction to the executor module; if one of the first error value or the second error value is larger than a preset threshold value, the central control module sends an instruction to the flight control calculation module, so that the flight control computer corresponding to the error value larger than the preset threshold value stops working, and the original working is replaced by the redundant flight control computer; if the first error value and the second error value are both larger than the preset threshold value, the central control module does not receive the instruction from the flight control calculation module any more and sends an instruction for switching to the operating lever to the communication module;
in the embodiment of the application, as shown in fig. 1, as a preferred embodiment, when both the first check code and the second check code are wrong, as shown in fig. 2, the central control module sends a working instruction to the redundant computer, and the redundant computer performs verification calculation on the flight data to obtain a third flight instruction and a third check code after receiving the working instruction, and transmits the third flight instruction and the third check code obtained by calculation to the central control module.
The central control module firstly carries out verification on the third verification code, and if the verification is not passed, a request for switching to the control lever is sent to the communication module; and if the verification passes, outputting a third flight instruction to the actuator module.
In the embodiment of the application, as shown in fig. 1, as a preferred embodiment, when the first check code or the second check code is wrong, the central control module outputs a flight instruction corresponding to the correct check code to the executor module and sends an instruction to the flight control calculation module, so that the flight control computer corresponding to the error check code stops working and replaces the original working with the redundant flight control computer.
In the embodiment of the application, as shown in fig. 1, as a preferred embodiment, when the battery power of the aircraft is lower than a preset threshold, the battery management module sends out a battery power shortage early warning to the central control module, and after receiving the early warning, the central control module sends out a battery power shortage early warning to the communication module and requests to switch to the operation of the joystick.
The above embodiments may be implemented in whole or in part by software, hardware, firmware, or any other combination. When implemented in software, the above-described embodiments may be implemented in whole or in part in the form of a computer program product. Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application.
Claims (10)
1. A redundancy flight control computer system utilizing software and hardware cooperation is characterized in that: comprising the following steps: the system comprises a sensor module, a flight control calculation module, a central control module, a communication module, a power management module and an actuator module; wherein,,
the sensor module is used for acquiring the position, speed, acceleration, angular speed and magnetic field information of the aircraft and constructing a flight database;
the flight control calculation module comprises a first flight control computer, a second flight control computer and a redundant flight control computer, wherein all flight control computers have the same hardware structure and system software, and the first flight control computer and the second flight control computer respectively analyze and process flight data from the sensor module to obtain a first flight instruction, a first check code, a second flight instruction and a second check code; the redundant flight control computer is in a dormant state under the condition that the first flight control computer and the second flight control computer work normally, and after receiving a working instruction sent by the central control module, the redundant flight control computer analyzes and processes flight data from the sensor module to obtain a third flight instruction and a third check code;
the central control module is used for receiving, analyzing and processing signals and instructions from each module, making decisions and issuing commands, and monitoring and managing the operation of the whole redundancy flight control computer system so as to realize the overall control and scheduling of the redundancy flight control computer system;
the actuator module is used for controlling the movement of the aircraft, comprises a steering engine, a motor driver and an electric regulator, and controls the gesture and the movement of the aircraft by receiving the instruction from the central control module;
the communication module is used for carrying out data exchange and communication with the ground operation rod and other aircrafts, and comprises a data transmission unit, a radio modem, wiFi and Bluetooth, so that the data link with the ground operation rod and the information exchange between the aircrafts are realized;
the power management module is used for controlling and managing the power supply and power supply state of the flight control system, and comprises battery management, power supply conversion and power supply protection functions, so that the normal work of the flight control system and the executor is ensured.
2. The redundancy-controlling computer system of claim 1, wherein the redundancy-controlling computer system is configured to: the position and velocity are detected by GPS, the acceleration and angular velocity are detected by an inertial measurement unit, and the magnetic field information is detected by a magnetometer.
3. The redundancy-controlling computer system of claim 1, wherein the redundancy-controlling computer system is configured to: the hardware structure of the flight control computer comprises a central processing unit, a memory, a display card, a communication bus and an I/O interface.
4. A redundancy-controlling computer system as claimed in claim 3, wherein: the system software of the flight control computer comprises a flight calculation program and an instruction verification program, wherein the flight calculation program uses a supervised learning algorithm to construct a flight prediction model of the aircraft, and after sample data training and testing, the flight prediction model is output, and the flight prediction model is used for planning the track and the flight state of the aircraft to obtain an instruction required to be sent by the aircraft to reach a designated position; the instruction checking program sums all data in the instruction by bits for the instruction from the flight calculation program using a checksum method, and takes the low order bytes of the result as a check code.
5. The redundancy fly-control computer system as in claim 4, wherein: the central control module checks the first check code and the second check code when receiving the first flight instruction, the first check code, the second flight instruction and the second check code sent by the flight control calculation module, and selects different decisions according to different check results.
6. The redundancy fly-by-wire computer system as in claim 5, wherein: if the first check code and the second check code are correct, performing error analysis on the first flight command and the second flight command, and rotating the motor in the first flight commandAnd motor speed in the second flight command +.>After dimensionless treatment, the parameters are correlated to form a variance->Association publicityThe formula is as follows:
；
wherein n is the total number of motors on the aircraft,for the speed of the i-th motor in the first command, is>The rotation speed of the ith motor in the second command.
7. The redundancy fly-by-wire computer system as in claim 6, wherein: the central control module is based on the varianceThe size selection of the instruction is different from the size selection of the preset threshold, specifically:
when variance isWhen the first flight instruction does not exceed the preset threshold value, the central control module outputs the first flight instruction to the executor module;
when variance isWhen the working instruction exceeds a preset threshold, the central control module sends a working instruction to the redundant computer, the redundant computer carries out verification calculation on flight data after receiving the working instruction to obtain a third flight instruction and a third check code, the central control module carries out error analysis on the third flight instruction and the first flight instruction and the second flight instruction respectively according to the third flight instruction and the third check code to obtain a first error value and a second error value, and the first error value and the second error value are compared with the preset threshold respectively;
if the first error value and the second error value are smaller than the preset threshold value, the central control module outputs a third flight instruction to the executor module; if one of the first error value or the second error value is larger than a preset threshold value, the central control module sends an instruction to the flight control calculation module, so that the flight control computer corresponding to the error value larger than the preset threshold value stops working, and the original working is replaced by the redundant flight control computer;
if the first error value and the second error value are both larger than the preset threshold value, the central control module does not receive the instruction from the flight control calculation module any more and sends an instruction for switching to the control lever to the communication module.
8. The redundancy fly-by-wire computer system as in claim 7, wherein: when the first check code and the second check code are both wrong, the central control module sends a working instruction to the redundant computer, the redundant computer carries out verification calculation on the flight data after receiving the working instruction to obtain a third flight instruction and a third check code, and the third flight instruction and the third check code obtained by calculation are transmitted to the central control module;
the central control module firstly carries out verification on the third verification code, and if the verification is not passed, a request for switching to the control lever is sent to the communication module; and if the verification passes, outputting a third flight instruction to the actuator module.
9. The redundancy-fly-control computer system of claim 8, wherein the software and hardware cooperated: when the first check code or the second check code is wrong, the central control module outputs a flight instruction corresponding to the correct check code to the executor module, and sends an instruction to the flight control calculation module, so that the flight control computer corresponding to the wrong check code stops working, and the original working is replaced by using the redundant flight control computer.
10. The redundancy-controlling computer system of claim 1, wherein the redundancy-controlling computer system is configured to: when the battery power of the aircraft is lower than a preset threshold value, the battery management module sends out battery power shortage early warning to the central control module, and after receiving the early warning, the central control module sends out battery power shortage early warning to the communication module and requests to switch to the operation of the control lever.
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