Flight control instruction management method, system and medium for thermal parallel redundant flight control system

Abstract

The invention discloses a flight control instruction management method, system and medium of a thermal parallel redundant flight control system; it relates to the field of aircraft safety technology; based on a pre-processed flight control input signal, the operating state of each channel is preliminarily determined, and within an observation period, the channel in a fault state is isolated and the recovery state is monitored in real time, and finally a channel state result is obtained; based on the channel state result, a flight control state evaluation is performed, and based on the operating state and the flight control state evaluation results, a flight control state evaluation is performed with reference to the channel state result to realize the flight control state evaluation on the basis of the original redundancy management method, and the flight control state evaluation is realized by isolating and monitoring the recovery state of the channel in the fault state in real time, and the flight control state evaluation is performed with reference to the channel state result, and the flight control state evaluation result is used in the voting of the flight control output signal, and the channel voting mechanism is optimized, so as to provide a reference for selecting high-quality flight control instructions from safety signals, solve the problem that singular faults cannot be identified, and improve the coordination between channels at the same time.

Description

Technical Field

[0001] The present invention relates to the field of aircraft safety technology, and in particular to a flight control instruction management method, system and medium for a thermal parallel redundant flight control system. Background Art

[0002] The high reliability and safety of aircraft have always been the goal that practitioners in this field strive for. In recent years, with the continuous emergence of high-value, large-scale drones and experimental aircraft, reliability has also gained more important recognition in the design process of unmanned aerial vehicles.

[0003] Redundancy technology is a technical means to meet the requirements of reliability and fault tolerance by using two or more identical components or systems to correctly and coordinately complete the same task. With the development of engineering technology, redundancy technology can be found in many industries and fields. In the field of aviation unmanned aerial vehicles, the application of redundancy technology is spread throughout the subsystems of the aircraft. The redundant flight control system constructed by multiple flight control computers using redundancy technology plays an important role in improving the reliability of aircraft.

[0004] The redundant flight control system can be divided into two modes according to the working model: main hot backup mode and hot parallel mode. Figure 2 As shown. The main hot backup mode means that the system executes tasks only through one main node, and the remaining nodes serve as redundant backups and are only enabled when the main node fails; therefore, the main hot backup mode requires a high fault detection coverage and an efficient channel switching mechanism to ensure the stability of the system during the switching idle period. The hot parallel mode means that each redundant channel performs the same task at the same time, and a redundant voting mechanism is used to complete the selection and correct output of the final result. Since it is a signal selection working mode, there is no idle period caused by system switching, but it also makes the final control channel instructions come from different flight controllers, and there are potential command coordination problems and singular state problems.

[0005] Aircraft control has channel coordination control requirements, such as the coordination of longitudinal control and speed control, lateral control and heading control, etc., and the relevant requirements are also considered when designing the control law. The hot parallel mode adopts the control channel redundancy management method, that is, the flight control instructions are voted independently by channel (such as thrust control, aileron control, elevator control, rudder control, etc.), which also means that the channel instructions that are finally voted and acted on the actuator are from different flight control instructions, which creates a potential risk of channel coordination. Summary of the invention

[0006] The technical problem to be solved by the present invention is: in the traditional hot parallel mode operation, the flight control instructions of each control channel come from different flight control systems, and there are potential flight control instruction coordination problems and singular fault states during the execution process, and the singular fault state is difficult to effectively identify; the purpose of the present invention is to provide a flight control instruction management method, system and medium for a hot parallel redundant flight control system, aiming at the difficulty of lacking effective information for identifying the coordination of flight control instructions and singular fault states, on the basis of the original redundancy management method, by isolating and restoring the state of the channel in the fault state in real time, referring to the channel state result to perform flight control state evaluation to achieve flight control state evaluation, and using the flight control state evaluation result in voting on the flight control output signal, the channel voting mechanism is optimized, and a reference is provided for selecting high-quality flight control instructions from safety signals, solving the problem that singular faults cannot be identified, and improving the coordination between channels at the same time.

[0007] The present invention is achieved through the following technical solutions:

[0008] This solution provides a flight control instruction management method for a hot parallel redundant flight control system, including:

[0009] Collect multi-channel flight control input signals and pre-process each flight control input signal;

[0010] Based on the pre-processed flight control input signal, the operating status of each channel is preliminarily determined, and the faulty channel is isolated and the recovery status is monitored in real time during the observation period, and the channel status result is finally obtained;

[0011] Perform flight control status evaluation based on channel status results, and vote on flight control output signals based on operating status and flight control status evaluation results;

[0012] Execute the flight control output signal.

[0013] A further optimization scheme is that the pretreatment method includes:

[0014] Compare the size of each flight control input signal;

[0015] Sort the flight control input signals from small to large, and number each flight control input signal; for flight control input signals of equal size, set the arrangement order randomly.

[0016] A further optimization scheme is that the operating state includes: a normal state and a fault state;

[0017] The isolation and recovery status monitoring process for the channels in fault state includes: instantaneous fault state, recovery buffer state and permanent fault state.

[0018] A further optimization scheme is that the operation status of each channel is preliminarily determined based on the preprocessed flight control input signal, including the following method:

[0019] T1, the redundant flight control system composed of four identical flight control computers will generate 4 channels for each type of flight control signal, that is, the number of channels for each flight control input signal is 4, and the number of the 4 channels corresponding to the flight control input signal is used as the channel number, channel 1 to channel 4; the larger the channel number, the larger the corresponding flight control input signal according to the preprocessing result;

[0020] Calculate the difference C between the flight control input signals corresponding to channel i and channel j ij =C j -C i ;i=1, 2, 3; j=1, 2, 3, 4; i<j;

[0021] T2, determine the difference C14 and the comparison threshold e. If the difference C14 ≤ the comparison threshold e, it is determined that channels 1 to 4 are all in normal state; otherwise, enter T3;

[0022] T3, respectively judging the difference between the difference C13 and the comparison threshold e, and the difference between the difference C24 and the comparison threshold e;

[0023] If the difference C13>comparison threshold e, and the difference C24≤comparison threshold e, it is determined that channel 1 is in a fault state, and channels 2 to 4 are in a normal state;

[0024] If the difference C13 ≤ comparison threshold e, and the difference C24 > comparison threshold e, it is determined that channel 4 is in a fault state, and channels 1 to 3 are all in a normal state;

[0025] If the difference C13>comparison threshold e, and the difference C24>comparison threshold e, then go to step T4;

[0026] If the difference C13 ≤ comparison threshold e, and the difference C24 ≤ comparison threshold e, then go to step T5;

[0027] T4, determine the difference C23 and the comparison threshold e; if the difference C23 ≤ the comparison threshold e, then determine that channel 1 and channel 4 are in a fault state, and channel 1 and channel 3 are in a normal state; otherwise, enter step T6;

[0028] T5, calculating the sum C24+C34 of the difference C24 and the difference C34, and the sum C12+C13 of the difference C12 and the difference C13;

[0029] If C24+C34>C12+C13, it is determined that channel 4 is in a fault state, and channels 1 to 3 are all in normal state;

[0030] If C24+C34=C12+C13, it is determined that channel 1 and channel 4 are in fault state, and channel 2 and channel 3 are in normal state;

[0031] If C24+C34<C12+C13, it is determined that channel 1 is in a fault state, and channels 2 to 4 are in a normal state;

[0032] T6, respectively judging the difference between the difference C34 and the comparison threshold e, and the difference between the difference C21 and the comparison threshold e;

[0033] If the difference C34>comparison threshold e, and the difference C21≤comparison threshold e; it is determined that channel 3 and channel 4 are in a fault state, and channel 1 and channel 2 are in a normal state;

[0034] If the difference C34 ≤ comparison threshold e, and the difference C21 ≤ comparison threshold e; then all channels are judged to be in a singular fault state;

[0035] If the difference C34>comparison threshold e, and the difference C21>comparison threshold e; then all channels are judged to be in a singular fault state;

[0036] If the difference C34 ≤ comparison threshold e, and the difference C21 > comparison threshold e, it is determined that channel 1 and channel 2 are in a fault state, and channel 3 and channel 4 are in a normal state.

[0037] A further optimization scheme is that the faulty channel is isolated and the recovery status is monitored in real time during the observation period, and the channel status result is finally obtained, including the method:

[0038] The channels judged to be in a fault state are isolated and monitored, and the flight control input signals corresponding to the channels in the fault state are isolated. The flight control input signals corresponding to the channels in the fault state do not participate in the subsequent voting process.

[0039] The monitoring process includes: comparing the flight control input signal corresponding to the channel with the comparison threshold e for multiple cycles;

[0040] During the observation period, if the current channel changes from a normal state to an instantaneous fault state, and is still judged as a fault state within m consecutive comparison cycles, the current channel is judged to be in a permanent fault state;

[0041] For a channel in a transient fault state, if the next comparison cycle returns to a normal state, the current channel is determined to be in a recovery buffer state;

[0042] For a channel in the recovery buffer state, if it is judged to be in a normal state for n consecutive comparison cycles, the current channel is judged to be in a normal state.

[0043] This method uses the occurrence and recovery period of transient faults as the standard for distinguishing transient faults from permanent faults, and sets an "observation period" for the transient faults after recovery. This ensures the reliability and operational stability of the system while the fault is recovering.

[0044] A further optimization scheme is that the channel in the fault state is isolated and the recovery state is monitored in real time during the observation period, and the channel state result is finally obtained, which also includes a method:

[0045] After the observation period, if all channels are in normal state, a four-redundancy condition is obtained; if three channels are in normal state, a three-redundancy condition is obtained; if two channels are in normal state, a two-redundancy condition is obtained.

[0046] A further optimization scheme is that the method for obtaining the flight control status evaluation result includes:

[0047] Configure a channel voter for each flight control input signal;

[0048] For the i-th channel voter, obtain the channel status results of each channel;

[0049] Get the signal evaluation value of the flight control input signal corresponding to each channel based on the channel status result Q ia ; Where a is the channel number, a=1, 2, 3, 4;

[0050] The channel voters interact with each other to obtain the evaluation value matrix E of all flight control input signals;

[0051] The flight control status evaluation result is obtained based on the evaluation value matrix.

[0052] The present solution also provides a flight control command management system for a thermally parallel redundant flight control system, which is used to implement the flight control command management method for the thermally parallel redundant flight control system. The system includes:

[0053] The preprocessing module is used to collect multi-channel flight control input signals and preprocess each flight control input signal;

[0054] The monitoring module is used to preliminarily determine the operating status of each channel based on the preprocessed flight control input signal, and to isolate and monitor the recovery status of the channels in the fault state in real time within the observation period, and finally obtain the channel status result;

[0055] A voting module is used to evaluate the flight control status based on the channel status results, and to vote on the flight control output signal based on the operating status and flight control status evaluation results;

[0056] An execution module is used to execute the flight control output signal.

[0057] The present solution also provides a computer-readable medium having a computer program stored thereon, wherein the computer program is executed by a processor to implement the flight control instruction management method of the thermal parallel redundancy flight control system as described above.

[0058] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0059] The present invention provides a flight control instruction management method, system and medium for a thermally parallel redundant flight control system. Aiming at the difficulties of lack of effective identification of flight control instruction coordination and singular fault states, on the basis of the original redundancy management method, the channel in the fault state is isolated and the recovery state is monitored in real time, and the flight control state is evaluated with reference to the channel state result, and the flight control state evaluation result is used in the voting of the flight control output signal, the channel voting mechanism is optimized, and a reference is provided for selecting high-quality flight control instructions from the safety signal, so as to solve the problem that singular faults cannot be identified, and the coordination between channels is improved at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and should not be regarded as limiting the scope. For those of ordinary skill in the art, other relevant drawings can be obtained based on these drawings without creative work. In the drawings:

[0061] Figure 1 A flowchart of a method for managing flight control instructions for a hot parallel redundant flight control system is provided;

[0062] Figure 2 It is a schematic diagram of the main hot backup mode and hot parallel mode of the redundant flight control;

[0063] Figure 3 It is a schematic diagram of a method for determining the operating status of each channel;

[0064] Figure 4 It is a schematic diagram of the isolation monitoring method of the fault channel;

[0065] Figure 5 This is a schematic diagram of the traditional signal voting principle;

[0066] Figure 6 This is a schematic diagram of the improved signal voting method of Example 1;

[0067] Figure 7 This is a schematic diagram of the signal voting principle improved in Example 1;

[0068] Figure 8 It is a schematic diagram of the architecture of a thermal parallel redundant flight control system;

[0069] Fig. 9 This is a schematic diagram of the voting results of the first time channel using the traditional voting method;

[0070] Fig.10 This is a schematic diagram of the voting results of the first time channel of the voting method in Example 4;

[0071] Fig.11 This is a schematic diagram of the voting results of the traditional voting method in the second time channel;

[0072] Fig.12 This is a schematic diagram of voting results in the second time channel of the voting method in Example 4;

[0073] Fig.13 Schematic diagram of attitude angle changes corresponding to the traditional voting method;

[0074] Fig.14 Schematic diagram of comparison of attitude angle changes between the traditional voting method and the voting method of Example 4;

[0075] Fig.15 This is a schematic diagram of the state assessment result obtained by the method of Example 4;

[0076] Fig.16 This is a schematic diagram of the isolation status of channel 2. DETAILED DESCRIPTION

[0077] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with embodiments and drawings. The exemplary embodiments of the present invention and their description are only used to explain the present invention and are not intended to limit the present invention.

[0078] Embodiment 1: This embodiment provides a flight control instruction management method for a thermal parallel redundant flight control system, such as Figure 1 As shown, including:

[0079] Step 1: Collect multi-channel flight control input signals and pre-process each flight control input signal;

[0080] The pretreatment method comprises:

[0081] Compare the size of each flight control input signal;

[0082] Sort the flight control input signals from small to large, and number each flight control input signal; for flight control input signals of equal size, set the arrangement order randomly.

[0083] Step 2: Preliminarily determine the operating status of each channel based on the preprocessed flight control input signal, and isolate and monitor the recovery status of the faulty channel in real time during the observation period, and finally obtain the channel status result;

[0084] In this step, the operating state includes: a normal state and a fault state. The channels in the fault state include: an instantaneous fault state, a recovery buffer state and a permanent fault state during the isolation and recovery state monitoring process.

[0085] The operation status of each channel is initially determined based on the pre-processed flight control input signal, such as Figure 3 As shown, including methods:

[0086] The system is a redundant flight control system composed of four completely identical flight control computers, namely a quad-redundant flight control system. Currently, the commonly used redundant flight control systems in the industry are generally dual-redundant, triple-redundant and quad-redundant. The benefits of improved reliability brought about by further increasing redundancy will be far less than the losses caused by the resulting system complexity. Therefore, the industry uses quad-redundant flight control systems at most.

[0087] T1, for the quad-redundant flight control system, each type of flight control instruction will generate 4 control signals, and the numbers of the 4 channels corresponding to the flight control input signals are used as channel numbers, channel 1 to channel 4; the larger the channel number, the larger the corresponding flight control input signal; calculate the difference C between the flight control input signals corresponding to channel i and channel j ij =C j -C i ;i=1, 2, 3; j=1, 2, 3, 4; i<j;

[0088] T2, determine the difference C14 and the comparison threshold e. If the difference C14 ≤ the comparison threshold e, it is determined that channels 1 to 4 are all in normal state; otherwise, enter T3;

[0089] T3, respectively judging the difference between the difference C13 and the comparison threshold e, and the difference between the difference C24 and the comparison threshold e;

[0090] If the difference C13>comparison threshold e, and the difference C24≤comparison threshold e, it is determined that channel 1 is in a fault state, and channels 2 to 4 are in a normal state;

[0091] If the difference C13 ≤ comparison threshold e, and the difference C24 > comparison threshold e, it is determined that channel 4 is in a fault state, and channels 1 to 3 are all in a normal state;

[0092] If the difference C13>comparison threshold e, and the difference C24>comparison threshold e, then go to step T4;

[0093] If the difference C13 ≤ comparison threshold e, and the difference C24 ≤ comparison threshold e, then go to step T5;

[0094] T4, determine the difference C23 and the comparison threshold e; if the difference C23 ≤ the comparison threshold e, then determine that channel 1 and channel 4 are in a fault state, and channel 1 and channel 3 are in a normal state; otherwise, enter step T6;

[0095] T5, calculating the sum C24+C34 of the difference C24 and the difference C34, and the sum C12+C13 of the difference C12 and the difference C13;

[0096] If C24+C34>C12+C13, it is determined that channel 4 is in a fault state, and channels 1 to 3 are all in normal state;

[0097] If C24+C34=C12+C13, it is determined that channel 1 and channel 4 are in fault state, and channel 2 and channel 3 are in normal state;

[0098] If C24+C34<C12+C13, it is determined that channel 1 is in a fault state, and channels 2 to 4 are in a normal state;

[0099] T6, respectively judging the difference between the difference C34 and the comparison threshold e, and the difference between the difference C21 and the comparison threshold e;

[0100] If the difference C34>comparison threshold e, and the difference C21≤comparison threshold e; it is determined that channel 3 and channel 4 are in a fault state, and channel 1 and channel 2 are in a normal state;

[0101] If the difference C34 ≤ comparison threshold e, and the difference C21 ≤ comparison threshold e; then all channels are judged to be in a singular fault state;

[0102] If the difference C34>comparison threshold e, and the difference C21>comparison threshold e; then all channels are judged to be in a singular fault state;

[0103] If the difference C34 ≤ comparison threshold e, and the difference C21 > comparison threshold e, it is determined that channel 1 and channel 2 are in a fault state, and channel 3 and channel 4 are in a normal state.

[0104] This step specifically includes the following methods:

[0105] The channels judged to be in a fault state are isolated and monitored, and the flight control input signals corresponding to the channels in the fault state are isolated. The flight control input signals corresponding to the channels in the fault state do not participate in the subsequent voting process.

[0106] like Figure 4 As shown, within the observation period, if the current channel changes from a normal state to an instantaneous fault state, and is still judged as a fault state within m consecutive comparison cycles, the current channel is judged to be in a permanent fault state;

[0107] For a channel in a transient fault state, if the next comparison cycle returns to a normal state, the current channel is determined to be in a recovery buffer state;

[0108] For a channel in the recovery buffer state, if it is judged to be in a normal state for n consecutive comparison cycles, the current channel is judged to be in a normal state.

[0109] This method uses the occurrence and recovery period of transient faults as the standard for distinguishing transient faults from permanent faults, and sets an "observation period" for the transient faults after recovery, so that the reliability and operation stability of the system are guaranteed while the fault is recovered. In this step, the normal state of the channel is set to 0, the transient fault state is set to 1, the recovery buffer state is set to 1, and the permanent fault state is set to 2.

[0110] This step specifically also includes a method: after the observation period ends, if all channels are in a normal state, a four-redundancy condition is obtained; if three channels are in a normal state, a three-redundancy condition is obtained; if two channels are in a normal state, a two-redundancy condition is obtained.

[0111] Step 3: Evaluate the flight control status based on the channel status results, and vote on the flight control output signal based on the operating status and flight control status evaluation results;

[0112] like Figure 5 As shown, in the traditional signal voting method, under the condition of four redundancy, all channels are in normal state. At this time, the second largest flight control input signal C is used as the flight control output signal; under the condition of three redundancy, three channels are in normal state and one channel is in fault state. At this time, the second largest flight control input signal B is used as the flight control output signal; under the condition of two redundancy, two channels are in normal state and two channels are in fault state. At this time, the larger flight control input signal B is used as the flight control output signal; when all channels are in singular fault state, the preset flight control threshold S is used as the flight control output signal.

[0113] State monitoring often uses a cross-channel comparison monitoring method with high efficiency and coverage. By comparing the numerical values ​​of the flight control output signals, the design idea of ​​minority obeys majority is adopted to find the fault channel whose numerical value deviates from other channels, and thus achieve fault isolation and redundancy management. In this method, under extremely low probability, the same number of channels will deviate with different trends. Since the instructions have no reference true value or other state information to distinguish which deviations are the real fault channels, the failure monitoring caused by such special faults is unavailable and is also called singular fault. The original scheme uses the preset flight control threshold S to deal with the singular fault state. The preset flight control threshold S is a set of signal values ​​set for continuous input signals to ensure system safety. When the last redundancy is lost or in the singular signal state, the fault situation cannot be determined. In order to minimize the impact caused by this, the "failure-safety value" is used instead of the voting value. To a certain extent, the safety of the drone can be achieved. It has a certain effect when dealing with instantaneous singular states. If the singular fault lasts for a long time, it will still cause the system to be unstable or even divergent. It is necessary to find an effective way to identify singular faults and isolate the channels with real faults.

[0114] In view of this, this embodiment makes improvements based on the redundancy management method, such as Figure 6 As shown in the figure, this scheme realizes the status evaluation of flight control by referring to the fault isolation and recovery status of flight control signals, and uses the evaluation results in the subsequent signal voter design to provide a reference for the voter to select high-quality signals from safe signals. Under the same conditions, the flight control input signal with no channel fault is preferred; all channels are designed based on this criterion, and the flight control input signal (flight control command) finally selected will be unified to the same flight control computer, thereby achieving the optimal coordination of flight control commands from different flight controls.

[0115] The specific methods for obtaining the flight control output signal include:

[0116] Under the conditions of double redundancy, triple redundancy and quadruple redundancy, the flight control state evaluation results of each channel are obtained, and the flight control input signal corresponding to the best flight control state evaluation result is used as the flight control output signal; when all channels are in the singular fault state, the system state evaluation results are used to guide the selection of the flight control output signal.

[0117] If multiple flight control state evaluation results under the two-redundancy condition, the three-redundancy condition, and the four-redundancy condition are equal, the flight control input signal with the highest ranking is selected as the flight control output signal.

[0118] The specific methods for obtaining the flight control status evaluation results include:

[0119] Configure a channel voter for each flight control input signal;

[0120] For the i-th channel voter, the channel status result of each channel is obtained; the channel status result of each channel will switch between four types: normal state, instantaneous fault, recovery buffer and permanent fault.

[0121] Get the signal evaluation value of the flight control input signal corresponding to each channel based on the channel status result Q ia ; Where a is the channel number, a=1, 2, 3, 4;

[0122] Signal evaluation value Q ia By transient value q t and cumulative value q a Composition, where the transient value q t Defined as: Normal state F 0 (100), normal state in this embodiment F 0 The value is 100; the instantaneous fault and recovery buffer value is F 1 (60), in this embodiment, the instantaneous fault and recovery buffer value is 60; the permanent fault is F 2 (0), the permanent fault value in this embodiment is 0; F 0 > F 1 > F 2 ,Right now:

[0123] ;

[0124] Among them, CH.State is the channel state finally determined by the fault isolation and recovery function, where 0 indicates a normal state, 1 indicates a transient fault or a recovery buffer state, and 2 indicates a permanent fault.

[0125] Cumulative value q a It is used to describe the frequency of transient faults in the signal. The more frequent the faults, the worse the signal state. Each time the normal state switches to a transient fault, the cumulative value q a reduce a (1), in this embodiment, the reduction amount a is 1, if n q times, there are

[0126] ;

[0127] Based on the above signal evaluation valueQ ia Acquisition method, which can obtain the signal evaluation values ​​of 4 flight control input signals in each channel voter Q i1 , Q i2 , Q i3 , Q i4 ;

[0128] The channel voters interact to obtain the evaluation value matrix E of all flight control input signals:

[0129] ;

[0130] Each flight control has i evaluation states according to the number of signals, and the flight control state is composed of the signal state, that is, the flight control evaluation state result E j (j = 1,2,3,4) we have:

[0131] ;

[0132] Based on the signal evaluation value of the flight control input signal, the original voting method is optimized, and the flight control input signal corresponding to the best flight control state evaluation result is selected from all normal signals; specifically: Figure 7 The strategy shown is as follows: under the condition of four redundancy, all channels are in normal state. At this time, the flight control state evaluation result of the flight control input signal B is the best, so the flight control input signal B is used as the flight control output signal; under the condition of three redundancy, three channels are in normal state and one channel is in fault state. At this time, the flight control input signal A with the best flight control state evaluation result is used as the flight control output signal; under the condition of two redundancy, two channels are in normal state and two channels are in fault state. At this time, the flight control input signal B with the best flight control state evaluation result is used as the flight control output signal; when all channels are in singular fault state, the flight control output signal C evaluated by the system state is used as the flight control output signal.

[0133] Step 4: Execute the flight control output signal.

[0134] Embodiment 2: This embodiment provides a flight control command management system for a thermally parallel redundant flight control system, which is used to implement the flight control command management method for the thermally parallel redundant flight control system of embodiment 1. The system includes:

[0135] The preprocessing module is used to collect multi-channel flight control input signals and preprocess each flight control input signal;

[0136] The monitoring module is used to preliminarily determine the operating status of each channel based on the preprocessed flight control input signal, and to isolate and monitor the recovery status of the channels in the fault state in real time within the observation period, and finally obtain the channel status result;

[0137] The voting module is used to evaluate the flight control state based on the channel state results, and to vote the flight control output signal based on the operating state and the flight control state evaluation results; the voting module includes a channel voter, and each flight control input signal is configured with a channel voter; the flight control output signal obtained by the voting module can be used as a benchmark for downstream signal equalization to improve signal accuracy; signal voting can also use an algorithm to reconstruct according to the monitoring signal fault situation, eliminate the faulty signal, and ensure that the valid signal in the system is used for calculation.

[0138] An execution module is used to execute the flight control output signal.

[0139] The monitoring module of this solution monitors the faulty channel based on the cross-channel comparison method. It has the advantages of simple method, high coverage, and can quickly find faults and determine the fault location. It adopts the state machine to design the conversion of channel states, and thus realizes the fault isolation and recovery of the channel. It has the characteristics of rigorous logic, easy to understand and easy to implement.

[0140] The monitoring module can effectively isolate faults to ensure the accuracy of actual signal. At the same time, the fault recovery function ensures the full utilization of system resources as much as possible. The design of restoring the buffer state ensures that the channel that resumes operation is in a stable and normal state.

[0141] The voting module evaluates according to the channel fault isolation status, and adopts the channel information interaction bus to interactively summarize the channel status to obtain the status evaluation result of each flight control system node; the flight control status evaluation result can be used for voting on redundant flight control signals, providing information support for the identification of singular states, so as to solve the singular problem that is difficult to handle by the original method; and the channel status result is designed according to the priority selection of the flight control system signal with the best status, and the selection standard can be unified to achieve the coordination of the control channels of the hot parallel redundant flight control system.

[0142] This scheme realizes the status evaluation of each node of the redundant flight control system based on the channel fault isolation, providing information support for the improvement of the redundancy management method; the flight control status evaluation results are applied to the improvement of the signal voter, providing an effective reference for the identification of singular states, and solving the attitude oscillation and other instabilities caused by improper handling of singular states in the original method;

[0143] Embodiment 3: This embodiment provides a computer-readable medium on which a computer program is stored. The computer program is executed by a processor to implement the flight control instruction management method of the thermal parallel redundant flight control system as in Embodiment 1, and specifically performs the following steps:

[0144] Step 1: Collect multi-channel flight control input signals and pre-process each flight control input signal;

[0145] Step 2: Preliminarily determine the operating status of each channel based on the preprocessed flight control input signal, and isolate and monitor the recovery status of the faulty channel in real time during the observation period, and finally obtain the redundancy condition result;

[0146] Step 3: Perform flight control status evaluation based on the operating status and isolation and recovery status monitoring results of each channel, and vote on the flight control output signal based on the redundancy condition results and the flight control status evaluation results;

[0147] Step 4: Execute the flight control output signal.

[0148] Embodiment 4: This embodiment conducts a comparative experiment on the deployment of the original redundancy management algorithm and the improved redundancy management algorithm in the redundant flight control computer and the voting device hardware, and verifies the algorithm in the form of fault injection and semi-physical simulation; the architecture of the hot parallel redundant flight control system is as follows Figure 8 As shown in the figure, during the simulation, the flight control computer node and channel faults are injected in sequence, specifically:

[0149] (1) 30 seconds after the simulation starts, intermittent transient faults will occur on channel 1, channel 2, and channel 3 of flight controller 1 due to connection failures.

[0150] (2) After 50 seconds of simulation, intermittent transient faults occurred on channel 4 and channel 5 of flight controller 2 and channel 7 of flight controller No. 4.

[0151] (3) At 70 seconds into the simulation, flight controller 3 experienced a complete failure, and channel 6 of flight controller 4 experienced a permanent failure.

[0152] The flight control used has designed 7 flight control input signals, namely 1-thrust flight control signal, 2-elevator flight control signal, 3-rudder flight control signal, 4-aileron flight control signal, 5-drag rudder flight control signal, 6-landing gear nose wheel flight control signal, 7-brake flight control signal. The simulation results are as follows Figure 9-12 As shown; Fig. 9 This is the channel voting result of the traditional voting method in the first time (19-19.15s). Fig.10 is the channel voting result of the method in this embodiment at the first time (19-19.15s), Fig.11 This is the channel voting result of the traditional voting method at the second time (19-19.15s). Fig.12is the channel voting result of the method of this embodiment at the second time (19-19.15s);

[0153] Figure 9-12 The voter selection results of different control channels in the entire simulation time are represented digitally, and the improved method of this embodiment realizes the coordination of channels. Fig.13 and Fig.14 The changes of attitude angle during the simulation are shown, in which the traditional voting method causes attitude oscillation due to the safety backup strategy adopted in the singular state.

[0154] Depend on Fig.15 It can be seen that there is no fault injection in the first 30 seconds, and the system state evaluation values ​​of all flight control input signals are similar. According to the design principle, the flight control with the smallest sequence number is selected from all the fault-free flight control input signals, that is, flight control 1. After 30 seconds, some channels of flight control 1 occasionally have transient faults. Although the fault returns to normal after a short period of time, it is no longer optimal compared with other flight control systems that have not experienced faults. Fig.15 The decrease in the system status evaluation value also indicates this state. The new redundancy management method provided in this embodiment gives priority to flight control 2 according to the design principle. At 50s, both flight control 2 and flight control 4 have channels with intermittent instantaneous faults. At this time, the evaluation value of flight control 3 is higher. At 70s, flight control 3 has a whole machine failure. The redundancy management method isolates this channel and the status evaluation value is greatly reduced. During this period, each flight control has intermittent instantaneous faults or permanent faults. Overall, flight control 2 is in a better state, and its own problematic channels are complemented by the fault-free channels of other flight controls. Fig.16 The voting status of channel 2 (elevator) is selected for data display.

[0155] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A flight control instruction management method for a thermally parallel redundant flight control system, characterized in that: include: Collect multi-channel flight control input signals and pre-process each flight control input signal; Based on the pre-processed flight control input signal, the operating status of each channel is preliminarily determined, and the faulty channel is isolated and the recovery status is monitored in real time during the observation period, and the channel status result is finally obtained; the specific method includes: For channels that are judged to be in a fault state, isolation monitoring is performed: the flight control input signal corresponding to the channel is compared with the comparison threshold e for multiple cycles; During the observation period, if the current channel changes from a normal state to an instantaneous fault state, and is still judged as a fault state within m consecutive comparison cycles, the current channel is judged to be in a permanent fault state; For a channel in a transient fault state, if the next comparison cycle returns to a normal state, the current channel is determined to be in a recovery buffer state; For a channel in the recovery buffer state, if it is judged to be in normal state for n consecutive comparison cycles, the current channel is judged to be in normal state; After the observation period, if all channels are in normal state, the four-redundancy condition is obtained; if three channels are in normal state, the three-redundancy condition is obtained; if two channels are in normal state, the two-redundancy condition is obtained; The flight control status is evaluated based on the channel status results, and the flight control output signal is voted based on the operating status and flight control status evaluation results; The method includes: obtaining the flight control state evaluation result of each channel under the condition of two redundancy, three redundancy and four redundancy, and taking the flight control input signal corresponding to the best flight control state evaluation result as the flight control output signal; The method for obtaining the flight control status evaluation result includes: Configure a channel voter for each flight control input signal; For the i-th channel voter, obtain the channel status results of each channel; Get the signal evaluation value of the flight control input signal corresponding to each channel based on the channel status result Q ia ; Where a is the channel number, a=1, 2, 3, 4; The channel voters interact with each other to obtain the evaluation value matrix E of all flight control input signals; Obtain evaluation results of each flight control state based on the evaluation value matrix; Signal evaluation value Q ia By transient value q t and cumulative value q a Composition, where the transient value q t Defined as: Normal state F 0 , the value is 100; the instantaneous fault and recovery buffer state is F 1 , the value is 60; permanent fault is F 2 , the value is 60; F 0 > F 1 > F 2 ,Right now: ； Among them, CH.State is the channel state finally determined by the fault isolation and recovery function, where 0 indicates a normal state, 1 indicates a transient fault or recovery buffer state, and 2 indicates a permanent fault; Cumulative value q a It is used to describe the frequency of transient faults in the signal. The more frequent the faults, the worse the signal state. Each time the signal switches from the normal state to the transient fault, the cumulative value q a reduce a , if it appears n q times, there are ； Based on the above signal evaluation value Q ia Acquisition method, which can obtain the signal evaluation values ​​of 4 flight control input signals in each channel voter Q i1 , Q i2 , Q i3 , Q i4 ; The channel voters interact to obtain the evaluation value matrix E of all flight control input signals: ； Each flight control has i evaluation states according to the number of signals, and the flight control state is composed of the signal state, that is, the flight control evaluation state result E j (j = 1,2,3,4) we have: ； Execute the flight control output signal.

2. The flight control instruction management method of the thermal parallel redundancy flight control system according to claim 1, characterized in that: The pretreatment method comprises: Compare the size of each flight control input signal; Sort the flight control input signals from small to large, and number each flight control input signal; for flight control input signals of equal size, set the arrangement order randomly.

3. The flight control instruction management method of the thermal parallel redundancy flight control system according to claim 2, characterized in that: The operating state includes: a normal state and a fault state; The isolation and recovery status monitoring process for the channels in fault state includes: instantaneous fault state, recovery buffer state and permanent fault state.

4. The flight control instruction management method of the thermal parallel redundancy flight control system according to claim 3, characterized in that: The method of preliminarily determining the operating status of each channel based on the preprocessed flight control input signal includes: T1, the number of channels for each type of flight control input signal is 4, and the channel number is the number of the 4 channels corresponding to the flight control input signal, channel 1 to channel 4; the larger the channel number, the larger the corresponding flight control input signal; Calculate the difference C between the flight control input signals corresponding to channel i and channel j ij =C j -C i ; i = 1, 2, 3; j=1，2，3，4； i<j; T2, determine the difference C14 and the comparison threshold e. If the difference C14 ≤ the comparison threshold e, it is determined that channels 1 to 4 are all in normal state. Otherwise, proceed to T3; T3, respectively judging the difference between the difference C13 and the comparison threshold e, and the difference between the difference C24 and the comparison threshold e; If the difference C13>comparison threshold e, and the difference C24≤comparison threshold e, it is determined that channel 1 is in a fault state, and channels 2 to 4 are in a normal state; If the difference C13 ≤ comparison threshold e, and the difference C24 > comparison threshold e, it is determined that channel 4 is in a fault state, and channels 1 to 3 are all in a normal state; If the difference C13>comparison threshold e, and the difference C24>comparison threshold e, then go to step T4; If the difference C13 ≤ comparison threshold e, and the difference C24 ≤ comparison threshold e, then go to step T5; T4, determine the difference C23 and the comparison threshold e; if the difference C23 ≤ the comparison threshold e, then determine that channel 1 and channel 4 are in a fault state, and channel 1 and channel 3 are in a normal state; otherwise, enter step T6; T5, calculating the sum C24+C34 of the difference C24 and the difference C34, and the sum C12+C13 of the difference C12 and the difference C13; If C24+C34>C12+C13, it is determined that channel 4 is in a fault state, and channels 1 to 3 are all in normal state; If C24+C34=C12+C13, it is determined that channel 1 and channel 4 are in fault state, and channel 2 and channel 3 are in normal state; If C24+C34<C12+C13, it is determined that channel 1 is in a fault state, and channels 2 to 4 are in a normal state; T6, respectively judging the difference between the difference C34 and the comparison threshold e, and the difference between the difference C21 and the comparison threshold e; If the difference C34>comparison threshold e, and the difference C21≤comparison threshold e; it is determined that channel 3 and channel 4 are in a fault state, and channel 1 and channel 2 are in a normal state; If the difference C34 ≤ comparison threshold e, and the difference C21 ≤ comparison threshold e; then all channels are judged to be in a singular fault state; If the difference C34>comparison threshold e, and the difference C21>comparison threshold e; then all channels are judged to be in a singular fault state; If the difference C34 ≤ comparison threshold e, and the difference C21 > comparison threshold e, it is determined that channel 1 and channel 2 are in a fault state, and channel 3 and channel 4 are in a normal state.

5. A flight control command management system for a thermally parallel redundant flight control system, characterized in that: A method for managing flight control instructions for a thermally parallel redundant flight control system according to any one of claims 1 to 4, the system comprising: The preprocessing module is used to collect multi-channel flight control input signals and preprocess each flight control input signal; The monitoring module is used to preliminarily determine the operating status of each channel based on the preprocessed flight control input signal, and to isolate and monitor the recovery status of the channels in the fault state in real time within the observation period, and finally obtain the channel status result; A voting module is used to evaluate the flight control status based on the channel status results, and to vote on the flight control output signal based on the operating status and flight control status evaluation results; An execution module is used to execute the flight control output signal.

6. A computer readable medium having a computer program stored thereon, characterized in that: The computer program is executed by a processor to implement the flight control instruction management method for a thermal parallel redundancy flight control system as described in any one of claims 1 to 4.

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