A dual-redundancy steering engine control system for a drone and a configuration method thereof

Abstract

The application discloses a dual-redundancy steering engine control system for a UAV and a configuration method, comprising M steering engine controllers and N steering engines; the M steering engine controllers are connected with a flight pipe computer through a bus; each of the steering engine controllers has n channels and is connected with n steering engines; N>n, N>=M; the steering engines comprise dual-redundancy linear steering engines, dual-redundancy rotary steering engines, single-redundancy linear steering engines and single-redundancy rotary steering engines; wherein the dual-redundancy linear steering engines are connected with one channel of two different steering engine controllers respectively, the dual-redundancy rotary steering engines are connected with one channel of two different steering engine controllers respectively, and the single-redundancy linear steering engines and the single-redundancy rotary steering engines are connected with one channel of corresponding steering engine controllers. The dual-redundancy isosmorphism design is adopted, the two redundancies do not interact, work independently, the structure is simple, and the reliability is high.

Description

Technical Field

[0001] This invention belongs to the field of electric servo control technology, specifically relating to a dual-redundant servo control system and configuration method for unmanned aerial vehicles (UAVs). Background Technology

[0002] The main function of UAV servo controllers is to achieve position tracking control of various servos and autonomous failover in case of malfunction. Medium and large long-endurance UAVs are characterized by a large number of servos, diverse types, and multiple operating modes. Existing servo controllers suffer from poor hardware flexibility and lack versatility. They cannot adapt to arbitrary configurations of single / dual-redundant servo operating modes, nor are they compatible with parameters such as the working stroke of rotary / linear servos. Furthermore, servo controllers lack interchangeability; the hardware parameters of each channel correspond one-to-one with the connected servos, requiring them to be used as a complete set and cannot be arbitrarily interchanged. Finally, the hardware architecture of servo controllers is flawed; a single point of failure in a common area can lead to simultaneous failures of multiple servos, resulting in high fault correlation and poor reliability.

[0003] Existing servo controllers suffer from problems such as unreasonable hardware architecture, poor versatility and interchangeability, and low reliability, making it difficult to meet the application requirements of long-endurance UAVs for servo controller hardware platforms that are universal, standardized, and highly reliable. Summary of the Invention

[0004] The purpose of this invention is to solve the problems of unreasonable hardware architecture, poor universality and interchangeability, and low reliability of UAV servo controllers, and to propose a dual-redundant servo control system and configuration method for UAVs.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] In a first aspect, the present invention provides a dual-redundant servo control system for unmanned aerial vehicles, comprising M servo controllers and N servos;

[0007] All M servo controllers are connected to the flight control computer via a bus. Each servo controller has n channels, which are connected to n servos respectively; N > n, N ≥ M;

[0008] The servo motors include dual-redundant linear servos, dual-redundant rotary servos, single-redundant linear servos, and single-redundant rotary servos; wherein the dual-redundant linear servos are each connected to one channel of two different servo controllers, the dual-redundant rotary servos are each connected to one channel of two different servo controllers, and the single-redundant linear servos and single-redundant rotary servos are each connected to one channel of their respective servo controllers.

[0009] As a further improvement of the present invention, M servo controllers receive position command information sent by the flight control computer through a 2-way bus.

[0010] As a further improvement of the present invention, the servo controller adopts a dual-redundant isomorphic form, with each redundancy adopting a one-control-two architecture of DSP+FPGA+2-channel motor drive IPM module, which is used to control the servo motors of two channels respectively.

[0011] The input terminal of the DSP is connected to a physical ID recognition module, and the output terminal of the DSP is connected to an FPGA, a machine switching command setting module, and a sensor type switching module, respectively; the FPGA is connected to a motor drive IPM module and a machine switching command setting module.

[0012] As a further improvement of the present invention, the two DSP processors do not exchange information.

[0013] As a further improvement of the present invention, n is 4, M is 4, N is 13, and N servos are specifically 1 dual-redundant linear servo, 2 dual-redundant rotary servos, 4 single-redundant linear servos and 6 single-redundant rotary servos.

[0014] As a further improvement of the present invention, the first servo controller is connected to one dual-redundant rotary servo, one dual-redundant linear servo, and two single-redundant rotary servos.

[0015] The second servo controller connects one dual-redundant rotary servo, one dual-redundant linear servo, and two single-redundant rotary servos;

[0016] The third servo controller connects one dual-redundant rotary servo, two single-redundant linear servos, and one single-redundant rotary servo.

[0017] The fourth servo controller connects one dual-redundant rotary servo, two single-redundant linear servos, and one single-redundant rotary servo.

[0018] Secondly, the present invention provides a configuration method for a dual-redundant servo control system for unmanned aerial vehicles, comprising:

[0019] M servo controllers receive position command information sent by the flight control computer, and after comprehensive processing by the servo controllers, perform closed-loop position control and management on the N channels of servos.

[0020] As a further improvement of the present invention, the position closed-loop control and management of the N-channel servos after comprehensive processing by the servo controller includes:

[0021] The system automatically identifies the servo controller serial number and, based on the connection relationship of the servo channels, configures the servo operating mode, switches sensor matching parameters, and sets the status of the servo switching command to control and monitor the status of the servo.

[0022] As a further improvement of the present invention, the automatic identification of the servo controller serial number includes:

[0023] The controller and processor serial numbers are identified using 6-bit digital I / O signals; the controller serial number is set by adjusting the cable signal connection status according to the physical installation location of the controller.

[0024] Configure the servo motor operating modes, including:

[0025] The operating modes include: single redundancy, dual redundancy main channel, and dual redundancy backup channel. In single redundancy mode, the servo is an independent unit and does not perform switching or being switched. In dual redundancy main channel mode, the servo can send a switching command autonomously after a fault. In dual redundancy backup channel mode, the servo can receive the switching command and take over the main channel operation.

[0026] Two sets of digital I / O signals are used to configure the working modes of the two servos. The working mode configuration logic is implemented in the FPGA. When the working mode is dual-redundant main channel operation or single-redundant operation, and the servo channel is fault-free, the output of the motor drive IPM module is turned on to put the servo in working state. When the working mode is dual-redundant backup channel operation, and no switch command is received, the output of the motor drive IPM module is turned off to put the servo in non-working state.

[0027] Switching sensor matching parameters includes:

[0028] Servo motors can move in two ways: rotary motion and linear motion. Rotary motion servos use angular displacement sensors, while linear motion servos use linear displacement sensors.

[0029] Two dual-channel optical MOS relays are selected. The parameters of two servo sensors are configured through two sets of digital I / O signals. The two digital I / O signals control the switching of the two optical MOS relays, so that the resistors that adjust the amplitude of the excitation signal and the amplitude of the servo position feedback signal can be switched simultaneously, so that the RVDT and LVDT sensors are matched with their respective configured resistors.

[0030] Set the status of the machine switching command, including:

[0031] The system adopts a master-slave hot backup working mode, and the switching of the master and backup channels is controlled by the handover command; two differential isolation transceivers with transmit and receive enable terminals are selected to transmit and receive the handover command.

[0032] Two sets of digital I / O signals are used to configure the reception of two switching commands and the transmission of two switching commands. The reception of switching commands is completed by the DSP processor, and the transmission of switching commands is completed by the FPGA.

[0033] As a further improvement of the present invention, the control and status monitoring of the servo motor includes:

[0034] Adjust the connection status according to the physical installation location of the controller, connect the servo motor to the corresponding channel, and connect the switch signal line;

[0035] After the first redundant DSP reads the physical ID upon power-up, it first looks up the table to determine the working mode and sensor type of the two servos. Then, the DSP configures the servo working mode, switch command status, and sensor matching parameters. Finally, the FPGA sets the switch command based on the servo working mode and fault status after logic synthesis.

[0036] After the second-redundant DSP reads the physical ID upon power-up, it first looks up the table to determine the operating mode and sensor type of the two servos. Then, the DSP configures the servo operating mode, switch command status, and sensor matching parameters. Finally, the FPGA sets the switch command based on the servo operating mode and fault status after logic synthesis.

[0037] Compared with the prior art, the present invention has the following beneficial effects:

[0038] The dual-redundant servo controller hardware architecture proposed in this invention connects the servo controller to the flight control computer via a bus. Each servo controller has multiple channels, each connecting to several servos. The dual-redundant hardware circuit adopts a dual-redundant isomorphic design, with no interaction between the two redundancies, allowing them to operate independently. This results in a simple structure and high reliability. In particular, it can meet the application requirements of long-endurance UAVs for a universal, standardized, and highly reliable servo controller hardware platform.

[0039] Furthermore, the dual-redundant servo controller adopts a dual-redundant hardware isomorphic design architecture of DSP+FPGA+2 motor drive IPM modules. It designs circuits for two-level physical ID recognition of servo controller + DSP processor, configuration of single / dual-redundant servo working mode, switching of configuration parameters of rotary / linear servo sensor, and setting of servo main and backup channel switching commands. It has the advantages of simple structure, flexible configuration and high reliability.

[0040] The configuration method of this invention provides a dual-redundant servo controller with circuit modules such as two-level physical ID recognition, single / dual-redundant working mode configuration, servo sensor type switching, and main / backup channel switching command setting. The hardware configuration is flexible, and the versatility and interchangeability are strong. Attached Figure Description

[0041] The following will further explain the concept, specific structure, and technical effects of the present invention in conjunction with the accompanying drawings, so as to fully understand the purpose, features, and effects of the present invention.

[0042] Figure 1 This is a connection diagram of the UAV servo system provided in an embodiment of the present invention;

[0043] Figure 2The hardware architecture of the dual-redundant servo controller provided in the embodiments of the present invention. Detailed Implementation

[0044] To enable those skilled in the art to better understand the technical solutions of this invention, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this invention.

[0045] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0046] The terms "first," "second," "third," "fourth," etc., used in this application's specification and the aforementioned drawings, if present, are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0047] It should be understood that in this application, "at least one item" refers to one or more items, and "more than one item" refers to two or more items. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects have an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of singular or plural items. For example, at least one of A, B, or C can represent: A, B, C, "A and B", "A and C", "B and C", or "A and B and C", where A, B, and C can be single or multiple.

[0048] like Figure 1 As shown, the first objective of this invention is to provide a dual-redundant servo control system for unmanned aerial vehicles (UAVs), comprising M servo controllers and N servos;

[0049] All M servo controllers are connected to the flight control computer via a bus. Each servo controller has n channels, which are connected to n servos respectively; N > n, N ≥ M;

[0050] The servo motors include dual-redundant linear servos, dual-redundant rotary servos, single-redundant linear servos, and single-redundant rotary servos; wherein the dual-redundant linear servos are each connected to one channel of two different servo controllers, the dual-redundant rotary servos are each connected to one channel of two different servo controllers, and the single-redundant linear servos and single-redundant rotary servos are each connected to one channel of their respective servo controllers.

[0051] This allows the M servo controllers to receive position command information sent by the flight control computer via two-way bus.

[0052] See Figure 1 More specifically, n is 4, M is 4, N is 13, and N servos are specifically 1 dual-redundant linear servo, 2 dual-redundant rotary servos, 4 single-redundant linear servos and 6 single-redundant rotary servos.

[0053] For example, the UAV servo system consists of 4 servo controllers, 1 dual-redundant linear servo, 2 dual-redundant rotary servos, 4 single-redundant linear servos, and 6 single-redundant rotary servos. The servo controllers receive position command information sent by the flight control computer via 2 RS422 buses, and after integration, perform closed-loop position control and management of the 16 channels of servos.

[0054] In a specific embodiment, the first servo controller is connected to one dual-redundant rotary servo, one dual-redundant linear servo, and two single-redundant rotary servos.

[0055] The second servo controller connects one dual-redundant rotary servo, one dual-redundant linear servo, and two single-redundant rotary servos;

[0056] The third servo controller connects one dual-redundant rotary servo, two single-redundant linear servos, and one single-redundant rotary servo.

[0057] The fourth servo controller connects one dual-redundant rotary servo, two single-redundant linear servos, and one single-redundant rotary servo.

[0058] To accommodate both rotary and linear servo types, adapt to three working modes—single-redundant main channel, dual-redundant backup channel—and reduce the possibility of simultaneous failure of all four servo channels due to a single point of failure in the common part of the controller, thereby achieving the versatility, interchangeability, and high reliability of the servo controller, a dual-redundant servo control system architecture for UAVs was designed.

[0059] Among them, as a specific solution, such as Figure 2As shown, the servo controller adopts a dual-redundant isomorphic form. Each redundancy adopts a one-control-two architecture of DSP+FPGA+2-channel motor drive IPM module, which is used to control two channels of servos respectively. The input terminal of the DSP is connected to the physical ID recognition module, and the output terminal of the DSP is connected to the FPGA, the servo switch command setting module, and the sensor type switching module respectively. The FPGA is connected to the motor drive IPM module and the servo switch command setting module.

[0060] See Figure 2 The dual-redundant servo controller adopts an A / B dual-redundant isomorphic design. Each redundancy uses a one-control-two architecture with DSP+FPGA+2-channel motor drive IPM module to control two servo channels. The two DSP processors do not exchange information and work independently, enabling them to control four servo channels to complete the position tracking function.

[0061] The dual-redundant servo controller proposed in this invention adopts a dual-redundant hardware isomorphic design architecture of DSP+FPGA+2 motor driver IPM modules. It includes circuit modules for two-level physical ID recognition (servo controller + DSP processor), configuration of single / dual-redundant servo operating modes, switching of rotational / linear servo sensor configuration parameters, and setting of servo master / backup channel switching commands. This design features simple structure, flexible configuration, and high reliability. The dual-redundant servo controller hardware platform proposed in this invention can meet the generalization requirements of servo controllers for medium-to-large long-endurance UAVs.

[0062] The second objective of this invention is to provide a configuration method for a dual-redundant servo control system for unmanned aerial vehicles (UAVs), comprising:

[0063] M servo controllers receive position command information sent by the flight control computer, and after comprehensive processing by the servo controllers, perform closed-loop position control and management on the N channels of servos.

[0064] As an optional solution, the position closed-loop control and management of the N channels of servo motors after comprehensive processing by the servo motor controller includes: automatically identifying the servo motor controller serial number, and configuring the servo motor working mode, switching sensor matching parameters, and setting the status of the switch command according to the connection relationship of the servo motor channels, so as to control and monitor the status of the servo motors.

[0065] By designing circuit modules for physical ID recognition, working mode configuration, sensor type switching, and servo switch command setting, the processor can automatically identify the servo controller serial number after power-on, and configure the servo working mode, switch sensor matching parameters, and set the status of the servo switch command according to the connection relationship of the servo channel, thereby realizing the universality and interchangeability of the dual-redundant servo controller.

[0066] Dual-redundant servo controller hardware architecture as follows Figure 2As shown, the product's functional architecture and initialization configuration methods are explained below.

[0067] Physical ID identification includes:

[0068] A single SN74LVTH245APW bus transceiver is selected. A 6-bit digital I / O signal is used to identify the controller and processor serial numbers. The high 4 bits (ID5-2) represent the controller serial number, and the low 2 bits (ID1-0) represent the DSP serial number. The high 4 bits (ID5-2) and the signal ground are led out to connect the controller to the onboard cable. When the signal is floating, the identification code is 1; when the signal is grounded, the identification code is 0. The controller serial number is set by adjusting the cable signal connection state according to the physical installation location of the controller. ID1-0 are related to the installation location of the DSP processor board and are connected in two fixed states by hardware circuitry. The correspondence between the ID identification codes and the controller and processor is shown in Table 1.

[0069] Table 1 Physical ID Correspondence Table

[0070]

[0071] The working mode configuration instructions are as follows:

[0072] The servo has three operating modes: single redundancy, dual redundancy main channel, and dual redundancy backup channel. In single redundancy mode, the servo operates independently and does not have the function of switching or being switched. In dual redundancy main channel mode, the servo can autonomously send a switching command after a failure. In dual redundancy backup channel mode, the servo can receive a switching command and take over the operation of the main channel.

[0073] Two sets of digital I / O signals, MA1-0 and MB1-0, are used to configure the operating modes of the two servo motors. The operating mode configuration logic is implemented in the FPGA: 11 represents dual-redundant main channel operation, 00 represents dual-redundant backup channel operation, and 01 represents single-redundant operation. When the operating mode is 11 or 01, and the servo motor channel is fault-free, the output of the motor drive IPM module is turned on, putting the servo motor in operation. When the operating mode is 00, and no switchover command is received, the output of the motor drive IPM module is turned off, putting the servo motor in a non-operating state.

[0074] The sensor type switching process is as follows:

[0075] Servo motors have two types of motion: rotary motion and linear motion. Rotary motion servos use RVDT angular displacement sensors, while linear motion servos use LVDT linear displacement sensors. Because the two types of servos have different travel distances, and the parameters of the RVDT and LVDT sensors themselves are also different, the configuration resistors in the sensor excitation demodulation circuits are different.

[0076] Two dual-channel optical MOS relays (AQW212S) are selected, and the parameters of two servo sensors are configured through two sets of digital I / O signals (SA1-0, SB1-0). 10 represents selecting the RVDT sensor, and 01 represents selecting the LVDT sensor. The two digital I / O signals control the switching of the two optical MOS relays, enabling simultaneous switching of the resistors that adjust the amplitude of the excitation signal and the servo position feedback signal, ensuring that the RVDT and LVDT sensors are matched to their respective configured resistors.

[0077] The machine cutting command is set as follows:

[0078] The dual-redundant servo motor adopts a master-slave hot backup operating mode, and the switching between the master and backup channels is controlled by a handover command. Two differential isolation transceivers, ADM2582, with transmit and receive enable pins, are selected to realize the transmission and reception of handover commands.

[0079] Two sets of digital I / O signals, SREN1~0 and SR1~0, are used to configure the reception of two switching commands, and two sets of digital I / O signals, STEN1~0 and ST1~0, are used to configure the transmission of two switching commands. The reception of switching commands is handled by the DSP processor, and the transmission of switching commands is handled by the FPGA.

[0080] The receive enable SREN signal being 1 indicates that the handover command is not received, and being 0 indicates that the handover command is received; the transmit enable STEN signal being 1 indicates that the handover command is transmitted, and being 0 indicates that the handover command is not transmitted; the transmit ST signal and receive SR signal being 1 indicates that the handover is not performed, and being 0 indicates that the handover is performed.

[0081] The servo channel configuration method is as follows:

[0082] Dual-redundant servo controllers can connect not only to single-redundant servos, but also to one channel of a dual-redundant servo or both channels of a dual-redundant servo simultaneously. Figure 2 The configuration method is illustrated using the connection relationship between the servo controller and the servo as an example.

[0083] Adjust the connection status of the ID5~2 signals according to the physical installation location of the controller, connect the three servos to the corresponding channels, and connect the switch signal line.

[0084] After the redundancy DSP is powered on and reads the physical ID, it first looks up the table to determine the working mode and sensor type of the two servos. Then, the DSP sets MA1~0 to 11, MB1~0 to 01, SA1~0 and SB1~0 to 10, and SREN1~0 to 11. Finally, the FPGA sets STEN1~0 to 10 and ST1~0 to 11 (the first servo has no fault) after logic synthesis based on the servo working mode and fault status.

[0085] After the B-redundant DSP is powered on and reads the physical ID, it first looks up the table to determine the working mode and sensor type of the two servos. Then the DSP sets MA1~0 to 00, MB1~0 to 01, SA1~0 to 10, SB1~0 to 01, and SREN1~0 to 01. Finally, the FPGA sets STEN1~0 to 00 and ST1~0 to 11 after logic synthesis based on the servo working mode and fault status.

[0086] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

[0087] The above content provides a further detailed description of the present invention. It should not be construed that the specific embodiments of the present invention are limited to this. For those skilled in the art, several simple deductions or substitutions can be made without departing from the concept of the present invention, and all such deductions or substitutions should be considered as falling within the scope of protection of the present invention as defined by the submitted claims.

Claims

1. A dual-redundant servo control system for unmanned aerial vehicles (UAVs), characterized in that, Includes M servo controllers and N servos; All M servo controllers are connected to the flight control computer via a bus. Each servo controller has n channels, which are connected to n servos respectively; N > n, N ≥ M; The servo motors include dual-redundant linear servos, dual-redundant rotary servos, single-redundant linear servos, and single-redundant rotary servos. The dual-redundant linear servos are connected to one channel of two different servo controllers, the dual-redundant rotary servos are all connected to one channel of two different servo controllers, and the single-redundant linear servos and single-redundant rotary servos are all connected to one channel of their respective servo controllers. The servo controller adopts a dual-redundant isomorphic form, with each redundancy using a one-control-two architecture of DSP+FPGA+2-channel motor drive IPM module, which is used to control two channels of servos respectively. The input terminal of the DSP is connected to a physical ID recognition module, and the output terminal of the DSP is connected to an FPGA, a machine switching command setting module, and a sensor type switching module, respectively; the FPGA is connected to a motor drive IPM module and a machine switching command setting module. The two DSP processors do not exchange information.

2. The dual-redundant servo control system for UAVs according to claim 1, characterized in that, M servo controllers receive position command information sent by the flight control computer via a 2-channel bus.

3. The dual-redundant servo control system for UAVs according to claim 1, characterized in that, n is 4, M is 4, N is 13, and N servos are specifically 1 dual-redundant linear servo, 2 dual-redundant rotary servos, 4 single-redundant linear servos and 6 single-redundant rotary servos.

4. The dual-redundant servo control system for UAVs according to claim 3, characterized in that, The first servo controller connects one dual-redundant rotary servo, one dual-redundant linear servo, and two single-redundant rotary servos; The second servo controller connects one dual-redundant rotary servo, one dual-redundant linear servo, and two single-redundant rotary servos; The third servo controller connects one dual-redundant rotary servo, two single-redundant linear servos, and one single-redundant rotary servo. The fourth servo controller connects one dual-redundant rotary servo, two single-redundant linear servos, and one single-redundant rotary servo.

5. A configuration method for a dual-redundant servo control system for an unmanned aerial vehicle (UAV) according to any one of claims 1 to 4, characterized in that, include: M servo controllers receive position command information sent by the flight control computer, and after comprehensive processing by the servo controllers, perform closed-loop position control and management on the N channels of servos.

6. The configuration method of the dual-redundant servo control system for UAVs according to claim 5, characterized in that, The position closed-loop control and management of the N channel servos, after comprehensive processing by the servo controller, includes: The system automatically identifies the servo controller serial number and, based on the connection relationship of the servo channels, configures the servo operating mode, switches sensor matching parameters, and sets the status of the servo switching command to control and monitor the status of the servo.

7. The configuration method of the dual-redundant servo control system for UAVs according to claim 6, characterized in that, The automatic identification of the servo controller serial number includes: The controller and processor serial numbers are identified using 6-bit digital I / O signals; the controller serial number is set by adjusting the cable signal connection status according to the physical installation location of the controller. Configure the servo motor operating modes, including: The operating modes include: single redundancy, dual redundancy main channel, and dual redundancy backup channel. In single redundancy mode, the servo is an independent unit and does not perform switching or being switched. In dual redundancy main channel mode, the servo can send a switching command autonomously after a fault. In dual redundancy backup channel mode, the servo can receive the switching command and take over the main channel operation. Two sets of digital I / O signals are used to configure the working modes of the two servo motors. The working mode configuration logic is implemented in the FPGA. When the working mode is dual-redundant main channel operation or single-redundant operation, and the servo motor channel is fault-free, the output of the motor drive IPM module is turned on to put the servo motor into operation. When the working mode is dual-redundant backup channel operation, and no switchover command is received, the output of the motor drive IPM module is turned off to put the servo motor into non-operational state. Switching sensor matching parameters includes: Servo motors can move in two ways: rotary motion and linear motion. Rotary motion servos use angular displacement sensors, while linear motion servos use linear displacement sensors. Two dual-channel optical MOS relays are selected. The parameters of two servo sensors are configured through two sets of digital IO signals. The two digital IO signals control the switching of the two optical MOS relays, so that the resistors that adjust the amplitude of the excitation signal and the amplitude of the servo position feedback signal can be switched simultaneously, so that the RVDT and LVDT sensors are matched with their respective configured resistors. Set the status of the machine switching command, including: The system adopts a master-slave hot backup working mode, and the switching of the master and backup channels is controlled by the handover command; two differential isolation transceivers with transmit and receive enable terminals are selected to transmit and receive the handover command. Two sets of digital I / O signals are used to configure the reception of two switching commands and the transmission of two switching commands. The reception of switching commands is completed by the DSP processor, and the transmission of switching commands is completed by the FPGA.

8. The configuration method of the dual-redundant servo control system for UAVs according to claim 6, characterized in that, The control and status monitoring of the servo motor includes: Adjust the connection status according to the physical installation location of the controller, connect the servo motor to the corresponding channel, and connect the switch signal line; After the first redundant DSP reads the physical ID upon power-up, it first looks up the table to determine the working mode and sensor type of the two servos. Then, the DSP configures the servo working mode, switch command status, and sensor matching parameters. Finally, the FPGA sets the switch command based on the servo working mode and fault status after logic synthesis. After the second-redundant DSP reads the physical ID upon power-up, it first looks up the table to determine the operating mode and sensor type of the two servos. Then, the DSP configures the servo operating mode, switch command status, and sensor matching parameters. Finally, the FPGA sets the switch command based on the servo operating mode and fault status after logic synthesis.

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