Communication system, control method and carrier rocket

Abstract

The invention provides a communication system, a control method and a carrier rocket, and relates to the technical field of CAN communication. The communication system comprises a first resistor, a second resistor, at least one redundant resistor and a control module, the first resistor and the second resistor serve as terminal matching resistors of the CAN communication bus and are used for being electrically connected with the CAN communication bus; and the control module is configured to control at least one redundant resistor to be electrically connected with the CAN communication bus when determining that the first resistor and / or the second resistor meet a failure condition, the resistor meeting the failure condition is disconnected from the CAN communication bus, and the resistor meeting the failure condition is replaced by the redundant resistor to serve as a terminal matching resistor. According to the embodiment of the invention, under the condition that the terminal matched resistor is abnormal or the electric connection with the CAN communication bus is disconnected, the terminal matched resistor which fails can be replaced by the redundant resistor, so that the normal communication of the rocket is ensured.

Description

Technical Field

[0001] The present application relates to the field of CAN communication technology. Specifically, the present application relates to a communication system, a control method and a launch vehicle. Background Art

[0002] In the application field of aerospace electrical systems, CAN (Controller Area Network) bus is a common communication method. The two endpoints of the CAN bus network usually need to add terminal matching resistors. The area between the two terminal matching resistors is usually called the communication trunk of the CAN bus, and other nodes mounted on the trunk are called bus branches.

[0003] When the CAN bus is deployed in application fields such as launch vehicles or aircraft, if at least one of the two terminal matching resistors has problems or is electrically disconnected from the CAN bus, the normal communication of the rocket will be affected. Summary of the invention

[0004] In view of the shortcomings of the existing methods, the present application proposes a communication system, a control method and a launch vehicle to solve the technical problems in the related technology that the terminal matching resistor itself becomes abnormal or is electrically disconnected from the CAN communication bus, thereby affecting the normal communication of the rocket.

[0005] In a first aspect, an embodiment of the present application provides a communication system, applied to a launch vehicle, comprising: a first resistor, a second resistor, at least one redundant resistor, and a control module; The first resistor and the second resistor are both used as terminal matching resistors of the CAN communication bus, and are used to be electrically connected to the CAN communication bus; The control module is configured to, when it is determined that the first resistor and / or the second resistor meets the failure condition, control at least one redundant resistor to be electrically connected to the CAN communication bus, disconnect the resistor that meets the failure condition from the CAN communication bus, and replace the resistor that meets the failure condition with the redundant resistor as the terminal matching resistor; Among them, satisfying the failure condition includes at least one of the following: an abnormality occurs in the resistor itself, the resistor is electrically disconnected from the CAN communication bus, and the resistor is expected to be electrically disconnected from the CAN communication bus after a first predetermined time.

[0006] In a possible implementation, the communication system further includes at least one switch module; One end of each redundant resistor is electrically connected to the first communication line of the CAN communication bus through a switch module, and the other end is electrically connected to the second communication line of the CAN communication bus; The control module is configured to control the redundant resistor to be electrically connected or disconnected from the CAN communication bus by controlling the switch module to be turned on or off.

[0007] In a possible implementation, one end of the first resistor is electrically connected to the first communication line through a switch module, and the other end is electrically connected to the second communication line directly or through a switch module; One end of the second resistor is electrically connected to the first communication line through a switch module, and the other end is electrically connected to the second communication line directly or through a switch module; The control module is configured to control the first resistor and the second resistor to be electrically connected or disconnected from the CAN communication bus respectively by controlling the switch modules connected to the first resistor and the second resistor to be turned on or off respectively.

[0008] In a possible implementation, the communication system further includes two resistance detection modules, each resistance detection module is electrically connected to the control module, one resistance detection module is used to be electrically connected to both ends of the first resistor, and the other resistance detection module is used to be electrically connected to both ends of the second resistor; The control module is configured to, when it is determined that the communication of the CAN communication bus is abnormal, control the two switch modules electrically connected to the two ends of the first resistor and the second resistor to be disconnected, control the two resistor detection modules to be electrically connected to the first resistor and the second resistor, respectively, obtain the resistance detection information output by the two resistor detection modules, and if it is determined based on the resistance detection information that the resistance value change of the first resistor and / or the second resistor exceeds a first threshold value, then the resistor whose resistance value change exceeds the first threshold value is determined to meet the failure condition.

[0009] In a possible implementation, the communication system further includes two voltage detection modules; A voltage detection module is used to be electrically connected to both ends of the first resistor, and a voltage detection module is used to be electrically connected to both ends of the second resistor; The control module is configured to control the two voltage detection modules to be electrically connected to the first resistor and the second resistor respectively when it is determined that the communication of the CAN communication bus is abnormal, and obtain voltage detection information output by the two voltage detection modules. If it is determined based on the voltage detection information that the voltage difference between the first resistor and / or the second resistor is not within a first predetermined range, the resistor whose voltage difference is not within the first predetermined range is determined to meet the failure condition.

[0010] In a possible implementation, the communication system further includes two current detection modules; Two current detection modules are respectively connected in series with the first resistor and the second resistor; The control module is also used to obtain current detection information output by the two current detection modules. If it is determined based on the current detection information that the current of the first resistor and / or the second resistor is not within a second predetermined range, the resistor whose current is not within the second predetermined range is determined to meet the failure condition.

[0011] In one possible implementation, the control module is also configured to, when it is determined that the sub-stage where the first resistor and / or the second resistor is located is the sub-stage to be separated of the launch vehicle, control the switch module connected to the resistor in the sub-stage to be separated to be disconnected, and control the switch modules connected to the corresponding number of redundant resistors in the remaining sub-stages of the launch vehicle to be turned on; the sub-stage to be separated is separated from the remaining sub-stages after a first predetermined time.

[0012] In a possible implementation, the first resistor is arranged in the last sub-stage of the launch vehicle, the second resistor is arranged in one sub-stage of the launch vehicle, and a redundant resistor is arranged in each sub-stage of the launch vehicle except the first sub-stage; The control module is also configured to disconnect the switch module connected to the resistor in the sub-stage to be separated and connect the switch module connected to the redundant resistor of the previous sub-stage of the sub-stage to be separated during the sub-stage separation stage.

[0013] In a second aspect, an embodiment of the present application provides a control method, which is applied to the communication system of the first aspect, including: When it is determined that the first resistor and / or the second resistor meets the failure condition, control at least one redundant resistor to be electrically connected to the CAN communication bus, disconnect the resistor that meets the failure condition from the CAN communication bus, and replace the resistor that meets the failure condition with the redundant resistor as the terminal matching resistor; Among them, satisfying the failure condition includes at least one of the following: an abnormality occurs in the resistor itself, the resistor is electrically disconnected from the CAN communication bus, and the resistor is expected to be electrically disconnected from the CAN communication bus after a first predetermined time.

[0014] In a third aspect, an embodiment of the present application provides a launch vehicle, comprising: a CAN communication bus and the communication system of the first aspect; The CAN communication bus includes a first communication line and a second communication line; Two ends of the first resistor are electrically connected to the first communication line and the second communication line respectively; two ends of the second resistor are electrically connected to the first communication line and the second communication line respectively.

[0015] The beneficial technical effects brought about by the technical solution provided by the embodiment of the present application include: The communication system of the embodiment of the present application is provided with at least one redundant resistor, a control module, and a first resistor and a second resistor as terminal matching resistors. When determining that the first resistor and / or the second resistor meets the failure condition, the control module can control at least one redundant resistor to be electrically connected to the CAN communication bus to ensure that the resistor that meets the failure condition is electrically disconnected from the CAN communication bus, and replace the resistor that meets the failure condition with the redundant resistor as the terminal matching resistor to form a communication trunk between the two terminal matching resistors, that is, the first resistor and / or the second resistor can be replaced by redundant resistors corresponding to the number of resistors that meet the failure condition to form a new communication trunk.

[0016] Moreover, because the failure conditions satisfied by the embodiments of the present application include at least one of the following: an abnormality occurs in the resistor itself, the resistor is electrically disconnected from the CAN communication bus, and the resistor is expected to be electrically disconnected from the CAN communication bus after a first predetermined time, the embodiments of the present application can replace the failed terminal matching resistor with a redundant resistor when an abnormality occurs in the terminal matching resistor itself or the resistor is electrically disconnected from the CAN communication bus, thereby ensuring normal communication of the rocket.

[0017] Additional aspects and advantages of the present application will be partially given in the following description, which will become apparent from the following description, or will be understood through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which: Figure 1 A schematic diagram of the structure of the first communication system provided in the embodiment of the present application connected to the CAN bus; Figure 2 A schematic diagram of the structure of the second communication system provided in the embodiment of the present application connected to the CAN bus; Figure 3 A schematic diagram of the structure of the third communication system provided in the embodiment of the present application connected to the CAN bus; Figure 4 A schematic diagram of the structure of the fourth communication system provided in the embodiment of the present application connected to the CAN bus; Figure 5 A structural diagram of the fifth communication system provided in an embodiment of the present application being connected to a CAN bus.

[0019] Description of reference numerals: 110- control module; 120- switch module; 130-resistance detection module; 140- voltage detection module; 150-current detection module; 210-first communication line; 220-Second communication line. DETAILED DESCRIPTION

[0020] The embodiments of the present application are described below in conjunction with the drawings in the present application. It should be understood that the implementation methods described below in conjunction with the drawings are exemplary descriptions for explaining the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions of the embodiments of the present application.

[0021] It will be understood by those skilled in the art that, unless specifically stated, the "said" and "the" used herein may also include plural forms. It should be further understood that the wording "including" used in the specification of the present application refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the implementation of other features, information, data, steps, operations, elements, components and / or combinations thereof supported by the present technical field. It should be understood that when we say that an element is "connected" or "coupled" to another element, the element may be directly connected or coupled to the other element, or it may refer to the connection relationship between the element and the other element through an intermediate element. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The term "and / or" used herein refers to at least one of the items defined by the term, for example, "A and / or B" may be implemented as "A", or as "B", or as "A and B".

[0022] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0023] In the relevant technology, when arranging the CAN bus in application fields such as launch vehicles or aircraft, it is necessary to consider that the CAN bus nodes participating in the communication will be removed as the cabin is separated. In order to ensure that the remaining nodes can still maintain reliable communication, the terminal matching resistors still need to be in the bus network. The method usually adopted is to arrange the two terminal matching resistors at the last stage (the last stage) when the CAN bus is laid. Although the bus branch is disconnected as the cabin is separated, the terminal matching resistor will always be in the network. However, as the number of rocket stages increases, this method will cause the length of the bus branch to be too long, affecting the communication stability of the CAN bus and reducing reliability. The length of the bus branch should not be too long. As the number of rocket stages increases, this method will cause the length of the bus branch to be too long, affecting the communication stability of the CAN bus and reducing reliability.

[0024] The present application provides a communication system, a control method and a launch vehicle, which are intended to solve the above-mentioned technical problems of the prior art.

[0025] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments.

[0026] See also Figure 1 As shown, the embodiment of the present application provides a structural schematic diagram of the first communication system connected to the CAN bus. Figure 1 As shown, the communication system is applied to a launch vehicle, and includes: a first resistor R1, a second resistor R2, at least one redundant resistor and a control module 110.

[0027] The first resistor R1 and the second resistor R2 are both used as terminal matching resistors of the CAN communication bus and are used to be electrically connected to the CAN communication bus.

[0028] The control module 110 is configured to control at least one redundant resistor to be electrically connected to the CAN communication bus when it is determined that the first resistor R1 and / or the second resistor R2 meets the failure condition, disconnect the resistor that meets the failure condition from the CAN communication bus, and replace the resistor that meets the failure condition with the redundant resistor as the terminal matching resistor.

[0029] Among them, satisfying the failure condition includes at least one of the following: an abnormality occurs in the resistor itself, the resistor is electrically disconnected from the CAN communication bus, and the resistor is expected to be electrically disconnected from the CAN communication bus after a first predetermined time.

[0030] In actual applications, an abnormality in the resistor itself may cause the resistor to fail. The electrical connection between the resistor and the CAN communication bus may also be disconnected due to resistor failure or sub-stage falling off. The launch vehicle will fall off during the sub-stage separation phase. If the terminal matching resistor is located in the sub-stage to be separated, the sub-stage to be separated falls off after the first predetermined time, and the terminal matching resistor will fall off along with the sub-stage, so that the resistor and the CAN communication bus are expected to be electrically disconnected after the first predetermined time.

[0031] See also Figure 1 As shown, the first resistor R1 and the second resistor R2 are R1 and R2 respectively, and the third resistor R3, the fourth resistor R4, and the fifth resistor R5 are all redundant resistors. In the initial stage, the first resistor R1 and the second resistor R2 are both electrically connected to the CAN communication bus, and a communication trunk is formed between the first resistor R1 and the second resistor R2, which can be connected to various devices.

[0032] The number of terminal matching resistors is two. When the first resistor R1 and / or the second resistor R2 meets the failure condition, the corresponding number of redundant resistors can replace the resistors that meet the failure condition, and the number of terminal matching resistors is always kept at two, forming a communication trunk between the two terminal matching resistors.

[0033] The communication system of the embodiment of the present application is provided with at least one redundant resistor, a control module 110, and a first resistor R1 and a second resistor R2 as terminal matching resistors. When determining that the first resistor R1 and / or the second resistor R2 meet the failure condition, the control module 110 can control at least one redundant resistor to be electrically connected to the CAN communication bus to ensure that the resistor meeting the failure condition is electrically disconnected from the CAN communication bus, and replace the resistor meeting the failure condition with the redundant resistor as the terminal matching resistor to form a communication trunk between the two terminal matching resistors, that is, the first resistor R1 and / or the second resistor R2 can be replaced by redundant resistors corresponding to the number of resistors meeting the failure condition to form a new communication trunk.

[0034] Moreover, because the failure conditions satisfied by the embodiments of the present application include at least one of the following: an abnormality occurs in the resistor itself, the resistor is electrically disconnected from the CAN communication bus, and the resistor is expected to be electrically disconnected from the CAN communication bus after a first predetermined time, the embodiments of the present application can replace the failed terminal matching resistor with a redundant resistor when an abnormality occurs in the terminal matching resistor itself or the resistor is electrically disconnected from the CAN communication bus, thereby ensuring the normal communication of the overall CAN communication; when applied to a launch vehicle, normal communication of the rocket can be guaranteed.

[0035] See also Figure 1 As shown, the communication system further includes at least one switch module 120; one end of each redundant resistor is electrically connected to the first communication line 210 of the CAN communication bus through a switch module 120, and the other end is electrically connected to the second communication line 220 of the CAN communication bus.

[0036] The control module 110 is configured to control the redundant resistor to be electrically connected to or disconnected from the CAN communication bus by controlling the switch module 120 to be turned on or off.

[0037] Optionally, when the redundant resistor is not used as a terminal matching resistor, the switch module 120 electrically connected to the redundant resistor is in a disconnected state to ensure that the redundant resistor is not connected to the CAN communication bus.

[0038] Optionally, one of the first communication line 210 and the second communication line 220 is used to receive a differential positive signal, and the other is used to receive a differential negative signal. The second communication line 220 receives the differential negative signal CAN-, and the first communication line 210 receives the differential positive signal CAN+.

[0039] Optionally, the resistance values ​​of the first resistor R1 and the second resistor R2 are equal, and are set according to actual needs. The resistance value of the redundant resistor is also equal to the first resistor R1 or the second resistor R2. For example, the resistance values ​​of the first resistor R1, the second resistor R2, the third resistor R3, the fourth resistor R4 and the fifth resistor R5 are all 120Ω. In some embodiments, one end of the first resistor R1 is electrically connected to the first communication line 210 via a switch module 120 , and the other end of the first resistor R1 is electrically connected to the second communication line 220 directly or via a switch module 120 .

[0040] One end of the second resistor R2 is electrically connected to the first communication line 210 through a switch module 120 , and the other end is electrically connected to the second communication line 220 directly or through a switch module 120 .

[0041] The control module 110 is configured to control the first resistor R1 and the second resistor R2 to be electrically connected or disconnected from the CAN communication bus respectively by controlling the switch module 120 connected to the first resistor R1 and the second resistor R2 to be turned on or off respectively.

[0042] In practical applications, the first resistor R1 may be directly connected to the first communication line 210 and the second communication line 220 , and one or both ends of the first resistor R1 may be connected to the switch module 120 and the CAN communication bus.

[0043] Optionally, the switch module 120 may be a relay, a switch circuit with a MOS tube, or other electrically controlled mechanical switch.

[0044] See also Figure 2 As shown, the embodiment of the present application provides a structural schematic diagram of the second communication system connected to the CAN bus. Figure 2 As shown, the communication system also includes two resistance detection modules 130, each resistance detection module 130 is electrically connected to the control module 110, one resistance detection module 130 is used to be electrically connected to both ends of the first resistor R1, and the other resistance detection module 130 is used to be electrically connected to both ends of the second resistor R2.

[0045] The control module 110 is configured to, when it is determined that the communication of the CAN communication bus is abnormal, control the two switch modules 120 electrically connected to the two ends of the first resistor R1 and the second resistor R2 to be disconnected, control the two resistance detection modules 130 to be electrically connected to the first resistor R1 and the second resistor R2, respectively, obtain resistance detection information output by the two resistance detection modules 130, and if it is determined based on the resistance detection information that the resistance change of the first resistor R1 and / or the second resistor R2 exceeds the first threshold, then the resistor whose resistance change exceeds the first threshold is determined to meet the failure condition.

[0046] Optionally, the central controller in the launch vehicle can monitor the communication status in real time, and can determine whether the communication of the CAN communication bus is abnormal, thereby starting the control module 110 for detection.

[0047] In one embodiment of the present application, both ends of the first resistor R1 and the second resistor R2 are electrically connected to a switch module 120. When performing resistance detection, the switch modules 120 at both ends of the first resistor R1 and the second resistor R2 need to be disconnected first. The resistance change exceeding the first threshold is a design threshold at which the terminal matching resistance will affect normal communication.

[0048] Optionally, the resistance detection information is used to characterize the detected resistance value of the resistor, and the control module 110 can determine the resistance value change of the resistor based on the pre-stored resistance value and the detected resistance value. The first resistor R1 and the second resistor R2 each correspond to a resistance detection information, and for each resistance detection information, the resistance value change of the first resistor R1 or the second resistor R2 can be determined accordingly. The resistance value change of the resistor indicates that the resistor itself is abnormal.

[0049] See also Figure 2 As shown, when it is determined that the first resistor R1 and / or the second resistor R2 meets the failure condition, the switch module 120 connected to the resistor that meets the failure condition can be controlled to remain disconnected, and the switch module 120 connected to the resistor that does not meet the failure condition can be turned on, and at the same time, the switch modules 120 connected to a corresponding number of redundant resistors can be turned on to always keep the two terminal matching resistors connected to the first communication line 210 and the second communication line 220.

[0050] See also Figure 3 As shown, the present application embodiment provides a schematic diagram of the structure of the third communication system connected to the CAN bus. Figure 3 As shown, the communication system further includes two voltage detection modules 140; one voltage detection module 140 is used to be electrically connected to both ends of the first resistor R1, and one voltage detection module 140 is used to be electrically connected to both ends of the second resistor R2.

[0051] The control module 110 is configured to control the two voltage detection modules 140 to be electrically connected to the first resistor R1 and the second resistor R2 respectively when it is determined that the communication of the CAN communication bus is abnormal, and obtain voltage detection information output by the two voltage detection modules 140. If it is determined based on the voltage detection information that the voltage difference between the two ends of the first resistor R1 and / or the second resistor R2 is not within the first predetermined range, the resistor whose voltage difference is not within the first predetermined range is determined to meet the failure condition.

[0052] In one embodiment of the present application, when it is determined that the communication of the CAN communication bus is abnormal, the voltage detection is performed on the first resistor R1 and the second resistor R2. During the detection, the two voltage detection modules 140 can be controlled to be electrically connected to the first resistor R1 and the second resistor R2 respectively. If the voltage difference is not within the first predetermined range, it means that the resistor itself is abnormal or the resistor is disconnected from the CAN communication bus.

[0053] Optionally, the voltage detection information is used to characterize the voltage value at both ends of the resistor, and the first resistor R1 and the second resistor R2 each correspond to a voltage detection information. For each voltage detection information, the control module 110 can determine the voltage difference based on the voltage detection information, and if the voltage difference is not within the first predetermined range, it can be determined that the resistor meets the failure condition. The setting of the first predetermined range is determined based on the voltage at both ends of the terminal matching resistor when it works normally.

[0054] See also Figure 3 As shown, one end of the first resistor R1 and the second resistor R2 are electrically connected to a switch module 120, which is used to disconnect the switch module 120 electrically connected to the resistors whose voltage difference is not within the first predetermined range when it is determined that the voltage difference between the two ends of the first resistor R1 and / or the second resistor R2 is not within the first predetermined range, and at the same time turn on the switch modules 120 connected to the corresponding number of redundant resistance points, so as to always keep the two terminal matching resistors connected to the first communication line 210 and the second communication line 220.

[0055] See also Figure 4 As shown, the present application embodiment provides a schematic diagram of the structure of the fourth communication system connected to the CAN bus. Figure 4 As shown, the communication system further includes two current detection modules 150 ; the two current detection modules 150 are respectively connected in series with the first resistor R1 and the second resistor R2 .

[0056] The control module 110 is also used to obtain current detection information output by the two current detection modules 150. If it is determined based on the current detection information that the current of the first resistor R1 and / or the second resistor R2 is not within the second predetermined range, the resistor whose current is not within the second predetermined range is determined to meet the failure condition.

[0057] In one embodiment of the present application, the control module 110 can obtain the current detection information of the first resistor R1 and the second resistor R2 in real time, and can also obtain the current detection information of the first resistor R1 and the second resistor R2 when it is determined that the communication of the CAN communication bus is abnormal.

[0058] Optionally, the current detection information is used to characterize the current passing through the resistor, and the first resistor R1 and the second resistor R2 each correspond to a current detection information. For each current detection information, the control module 110 can determine whether the current passing through the resistor is within a second predetermined range based on the current detection information, and can determine whether the resistor meets the failure condition. The second predetermined range is the current range when the terminal matching resistor is working normally. If the current is not within the second predetermined range, it means that the resistor itself is abnormal or the resistor is disconnected from the CAN communication bus.

[0059] See also Figure 4 As shown, one end of the first resistor R1 and the second resistor R2 are electrically connected to a switch module 120, which is used to disconnect the switch module 120 electrically connected to the resistor whose current is not within the second predetermined range when the current of the first resistor R1 and / or the second resistor R2 is not within the second predetermined range, and at the same time turn on the switch module 120 connected to a corresponding number of redundant resistance points, so as to always keep the two terminal matching resistors connected to the first communication line 210 and the second communication line 220.

[0060] See also Figure 5As shown, the present application embodiment provides a structural schematic diagram of a fifth communication system connected to a CAN bus. Figure 5 As shown, the control module 110 is also configured to control the switch module 120 connected to the resistors in the sub-stage to be separated to be disconnected, and the switch modules 120 connected to the corresponding number of redundant resistors in the remaining sub-stages of the launch vehicle to be turned on when it is determined that the sub-stage where the first resistor R1 and / or the second resistor R2 are located is the sub-stage to be separated of the launch vehicle; the sub-stage to be separated is separated from the remaining sub-stages after a first predetermined time.

[0061] In practical applications, the resistors of the communication system and the control module 110 can be set in the last stage of the launch vehicle. However, since the length of the bus branch should not be too long, as the number of rocket stages increases, this method will cause the length of the bus branch to be too long, affecting the communication stability of the CAN bus. Therefore, it is necessary to make the two terminal matching resistors as far apart as possible, so that the original terminal matching resistor will fall off with the stage.

[0062] In the embodiment of the present application, the terminal matching resistor is replaced in advance at a first predetermined time before the sub-stage is separated, so as to ensure the stability of communication.

[0063] The first resistor R1 of the embodiment of the present application can be set at the last sub-level, and the second resistor R2 and the redundant resistor can be set at other sub-levels. When replacing the resistors, the distance between the two terminal matching resistors is kept as far as possible to ensure the communication quality.

[0064] See also Figure 5 As shown, the first resistor R1 is arranged in the last sub-stage of the launch vehicle, the second resistor R2 is arranged in a sub-stage of the launch vehicle, and a redundant resistor is arranged in each sub-stage of the launch vehicle except the first sub-stage.

[0065] The control module 110 is also configured to disconnect the switch module 120 connected to the resistor in the sub-stage to be separated, and connect the switch module 120 connected to the redundant resistor of the previous sub-stage of the sub-stage to be separated during the sub-stage separation stage.

[0066] The embodiment of the present application can always arrange the terminal matching resistors of the two CAN buses at the two sub-stages at both ends of the multi-stage rocket. There is no need to consider whether the length of the branch point in the CAN bus network will affect the communication reliability, which avoids the problem of the bus branch length being too long, and improves the reliability and design convenience of the CAN bus application on the rocket.

[0067] It should be noted that the number of launch vehicle sub-stages in the embodiment of the present application is not limited to four in the embodiment, that is, it also supports five-stage rockets, six-stage rockets, etc., and the number of launch vehicle sub-stages can be set according to actual needs. The CAN bus communication construction method in the embodiment of the present application is universal.

[0068] Based on the same inventive concept, an embodiment of the present application provides a control method, which is applied to the communication system of the embodiment of the present application, including: When it is determined that the first resistor R1 and / or the second resistor R2 meets the failure condition, control at least one redundant resistor to be electrically connected to the CAN communication bus, disconnect the resistor that meets the failure condition from the CAN communication bus, and replace the resistor that meets the failure condition with the redundant resistor as the terminal matching resistor; Among them, satisfying the failure condition includes at least one of the following: an abnormality occurs in the resistor itself, the resistor is electrically disconnected from the CAN communication bus, and the resistor is expected to be electrically disconnected from the CAN communication bus after a first predetermined time.

[0069] Optionally, determining whether the first resistor R1 and / or the second resistor R2 meets a failure condition includes at least one of the following: When it is determined that the communication of the CAN communication bus is abnormal, the two switch modules 120 electrically connected to the two ends of the first resistor R1 and the second resistor R2 are respectively controlled to be disconnected, and the two resistance detection modules 130 are controlled to be electrically connected to the first resistor R1 and the second resistor R2 respectively, and the resistance detection information output by the two resistance detection modules 130 is obtained. If it is determined based on the resistance detection information that the resistance value change of the first resistor R1 and / or the second resistor R2 exceeds the first threshold value, the resistor whose resistance value change exceeds the first threshold value is determined to meet the failure condition; When it is determined that the communication of the CAN communication bus is abnormal, the two voltage detection modules 140 are controlled to be electrically connected to the first resistor R1 and the second resistor R2 respectively, and the voltage detection information output by the two voltage detection modules 140 is obtained. If it is determined based on the voltage detection information that the voltage difference between the two ends of the first resistor R1 and / or the second resistor R2 is not within the first predetermined range, the resistor whose voltage difference is not within the first predetermined range is determined to meet the failure condition; The current detection information output by the two current detection modules 150 is obtained. If it is determined based on the current detection information that the current of the first resistor R1 and / or the second resistor R2 is not within the second predetermined range, the resistor whose current is not within the second predetermined range is determined to meet the failure condition.

[0070] Optionally, controlling at least one redundant resistor to be electrically connected to the CAN communication bus, and disconnecting the resistor that meets the failure condition from the CAN communication bus, comprises: The switch module 120 connected to at least one redundant resistor is controlled to be turned on, and the switch module 120 connected to the resistor that meets the failure condition is controlled or maintained to be turned off.

[0071] The control method of the embodiment of the present application can be executed by the control module 110. For the contents not described in detail in the control method, reference can be made to the functions of the control module 110 and will not be repeated here.

[0072] Based on the same inventive concept, an embodiment of the present application provides a launch vehicle, including: a CAN communication bus and a communication system of an embodiment of the present application.

[0073] The CAN communication bus includes a first communication line 210 and a second communication line 220 ; both ends of the first resistor R1 are electrically connected to the first communication line 210 and the second communication line 220 ; both ends of the second resistor R2 are electrically connected to the first communication line 210 and the second communication line 220 .

[0074] The embodiments of the present application can connect devices of the CAN communication network in each rocket sub-stage. The embodiments of the present application are not limited to the use of one CAN communication network. In actual rocket applications, at least two CAN communication networks are often designed for redundancy, but each CAN communication network can independently apply the method in the embodiments.

[0075] In an optional embodiment, the present application provides a control module 110 including: a processor and a memory. The processor may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of the present application. The processor may also be a combination that implements a computing function, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0076] The memory may be a ROM (Read-Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (random access memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read-Only Memory) or other optical disk storage, optical disk storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited to these.

[0077] Optionally, the memory is used to store a computer program for executing the solution of the present application, and the execution is controlled by the processor. The processor is used to execute the computer program stored in the memory to implement the steps of any control method provided in the embodiments of the present application.

[0078] By applying the embodiments of the present application, at least the following technical effects can be achieved: (1) In the embodiment of the present application, when an abnormality occurs in the terminal matching resistor itself or the electrical connection with the CAN communication bus is disconnected, the failed resistor can be replaced by a redundant resistor to ensure the normal communication of the rocket.

[0079] (2) The embodiments of the present application can determine whether there is an abnormality in the resistor or whether the electrical connection with the CAN communication bus is disconnected through various methods such as resistance detection, current detection or voltage detection. Problems with the communication system can be discovered in a timely manner, and the failed resistors can be replaced by redundant resistors to solve communication problems in a timely manner and ensure normal communication of the rocket.

[0080] (3) The embodiment of the present application can replace the terminal matching resistor in advance at a first predetermined time before the sub-stage is separated, and replace the terminal matching resistor that is about to fall off with the sub-stage with a redundant resistor, thereby ensuring the stability of communication.

[0081] (4) The embodiment of the present application can always arrange the terminal matching resistors of the two CAN buses at the two sub-stages at both ends of the multi-stage rocket. There is no need to consider whether the length of the branch point in the CAN bus network will affect the communication reliability, which avoids the problem that the length of the bus branch should not be too long, thereby improving the reliability and design convenience of the CAN bus application on the rocket.

[0082] Those skilled in the art will appreciate that the various operations, methods, steps, measures, and schemes in the processes discussed in this application may be alternated, changed, combined, or deleted. Furthermore, other steps, measures, and schemes in the various operations, methods, and processes discussed in this application may also be alternated, changed, rearranged, decomposed, combined, or deleted. Furthermore, steps, measures, and schemes in the related art that are similar to those disclosed in this application may also be alternated, changed, rearranged, decomposed, combined, or deleted.

[0083] In the description of the present application, the directions or positional relationships indicated by words such as "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the exemplary directions or positional relationships shown in the accompanying drawings. They are for the convenience of describing or simplifying the description of the embodiments of the present application, and do not indicate or imply that the referred device or component must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on the present application.

[0084] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0085] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0086] In the description of this specification, specific features, structures, materials or characteristics may be combined in an appropriate manner in any one or more embodiments or examples.

[0087] The above is only a partial implementation method of the present application. It should be pointed out that for ordinary technicians in this technical field, without departing from the technical concept of the scheme of the present application, other similar implementation methods based on the technical ideas of the present application are also within the protection scope of the embodiments of the present application.

Claims

1. A communication system, characterized in that: Applied to a launch vehicle, comprising: a first resistor, a second resistor, at least one redundant resistor and a control module; The first resistor and the second resistor are both used as terminal matching resistors of the CAN communication bus, and are used to be electrically connected to the CAN communication bus; The control module is configured to, when determining that the first resistor and / or the second resistor meets the failure condition, control at least one of the redundant resistors to be electrically connected to the CAN communication bus, disconnect the resistor that meets the failure condition from the CAN communication bus, and replace the resistor that meets the failure condition with the redundant resistor as the terminal matching resistor; The failure condition includes at least one of the following: an abnormality occurs in the resistor itself, the resistor is electrically disconnected from the CAN communication bus, and the resistor is expected to be electrically disconnected from the CAN communication bus after a first predetermined time.

2. The communication system according to claim 1, characterized in that The communication system further comprises at least one switch module; One end of each of the redundant resistors is electrically connected to the first communication line of the CAN communication bus through a switch module, and the other end is electrically connected to the second communication line of the CAN communication bus; The control module is configured to control the redundant resistor to be electrically connected to or disconnected from the CAN communication bus by controlling the switch module to be turned on or off.

3. The communication system according to claim 2, characterized in that One end of the first resistor is electrically connected to the first communication line through a switch module, and the other end is electrically connected to the second communication line directly or through a switch module; One end of the second resistor is electrically connected to the first communication line through a switch module, and the other end is electrically connected to the second communication line directly or through a switch module; The control module is configured to control the first resistor and the second resistor to be electrically connected or disconnected from the CAN communication bus respectively by controlling the conduction or disconnection of the switch modules connected to the first resistor and the second resistor respectively.

4. The communication system according to claim 3, characterized in that: The communication system further includes two resistance detection modules, each of which is electrically connected to the control module, one of which is used to be electrically connected to both ends of the first resistor, and the other of which is used to be electrically connected to both ends of the second resistor; The control module is configured to, when determining that the communication of the CAN communication bus is abnormal, control the two switch modules electrically connected to the two ends of the first resistor and the second resistor to be disconnected respectively, control the two resistor detection modules to be electrically connected to the first resistor and the second resistor respectively, obtain resistance detection information output by the two resistor detection modules, and if it is determined based on the resistance detection information that the resistance value change of the first resistor and / or the second resistor exceeds a first threshold, the resistor whose resistance value change exceeds the first threshold is determined to meet the failure condition.

5. The communication system according to any one of claims 1 to 3, characterized in that: The communication system also includes two voltage detection modules; One of the voltage detection modules is used to be electrically connected to both ends of the first resistor, and one of the voltage detection modules is used to be electrically connected to both ends of the second resistor; The control module is configured to control the two voltage detection modules to be electrically connected to the first resistor and the second resistor respectively when it is determined that the communication of the CAN communication bus is abnormal, and obtain voltage detection information output by the two voltage detection modules; if it is determined based on the voltage detection information that the voltage difference between the two ends of the first resistor and / or the second resistor is not within a first predetermined range, the resistor whose voltage difference is not within the first predetermined range is determined as satisfying a failure condition.

6. The communication system according to any one of claims 1 to 3, characterized in that: The communication system also includes two current detection modules; The two current detection modules are respectively connected in series with the first resistor and the second resistor; The control module is also used to obtain current detection information output by the two current detection modules. If it is determined based on the current detection information that the current of the first resistor and / or the second resistor is not within a second predetermined range, the resistor whose current is not within the second predetermined range is determined to meet a failure condition.

7. The communication system according to claim 3, characterized in that: The control module is also configured to, when it is determined that the sub-stage where the first resistor and / or the second resistor is located is the sub-stage to be separated of the launch vehicle, control the switch module connected to the resistor in the sub-stage to be separated to be disconnected, and control the switch modules connected to the corresponding number of redundant resistors in the remaining sub-stages of the launch vehicle to be turned on; the sub-stage to be separated is separated from the remaining sub-stages after a first predetermined time.

8. The communication system according to claim 7, characterized in that: The first resistor is arranged in the last sub-stage of the launch vehicle, the second resistor is arranged in a sub-stage of the launch vehicle, and each sub-stage of the launch vehicle except the first sub-stage is provided with a redundant resistor; The control module is also configured to disconnect the switch module connected to the resistor in the sub-stage to be separated and connect the switch module connected to the redundant resistor of the previous sub-stage of the sub-stage to be separated during the sub-stage separation stage.

9. A control method, characterized in that: A communication system as claimed in any one of claims 1 to 8, comprising: When it is determined that the first resistor and / or the second resistor meets the failure condition, controlling at least one redundant resistor to be electrically connected to the CAN communication bus, disconnecting the resistor that meets the failure condition from the CAN communication bus, and replacing the resistor that meets the failure condition with the redundant resistor as the terminal matching resistor; The failure condition includes at least one of the following: an abnormality occurs in the resistor itself, the resistor is electrically disconnected from the CAN communication bus, and the resistor is expected to be electrically disconnected from the CAN communication bus after a first predetermined time.

10. A launch vehicle, characterized in that: include: A CAN communication bus and a communication system as claimed in any one of claims 1 to 8; The CAN communication bus comprises a first communication line and a second communication line; Two ends of the first resistor are electrically connected to the first communication line and the second communication line respectively; two ends of the second resistor are electrically connected to the first communication line and the second communication line respectively.

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