Main and standby channel switching method and unmanned aerial vehicle dual-redundancy servo system
By introducing electrical isolation modules and intelligent switching logic into the drone dual-subsidiary servo system, the problem of loss of functions in traditional systems during electrical short circuit or electromagnetic interference is solved, and the stability and safety of the drone flight control system are achieved.
Patent Information
- Application Number
- CN202411918611.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-23
- Publication Date
- 2025-04-29
AI Technical Summary
When traditional double-subsidiary servo systems face electrical short circuits or strong electromagnetic interference, they may lead to the loss of the main and backup channels simultaneously, resulting in the stability and safety of the UAV flight control system being threatened.
By introducing an electrical isolation module, electrical isolation between the main control channel and the backup control channel is realized, and a channel switching logic module and fault detection module are designed to realize intelligent switching to ensure that the channel fails quickly.
It effectively avoids servo system function failure or performance degradation caused by channel failure, ensuring the stability and safety of the drone when performing tasks.
Smart Images
Figure CN119902541A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of UAV flight control technology, and in particular to a primary-backup channel switching method and a UAV dual-redundancy servo system. Background Art
[0002] With the widespread use of drones in low-altitude areas, higher requirements are placed on the safety and stability of drones. As the executive component of the drone flight control system, the stability and safety of the servo system are crucial. The traditional dual-redundancy servo system mainly switches the main and standby channels through the non-isolated CAN bus and the CPU's ordinary I / O port to switch information exchange and data interaction. This non-electrical isolation architecture may cause the loss of both the main and standby channel functions when facing electrical short circuits and strong electromagnetic interference in a single channel.
[0003] Therefore, there is an urgent need for a main-backup channel switching method and a UAV dual-redundancy servo system to overcome the above-mentioned technical defects and avoid servo system function failure or performance degradation caused by channel faults such as electrical short circuits. Summary of the invention
[0004] In order to solve the above technical problems, the present application provides a main-backup channel switching method and a UAV dual-redundancy servo system to ensure the stability and safety of the UAV when performing tasks.
[0005] In order to achieve the above object, the present application provides the following technical solution, which provides a method for switching between a primary channel and a backup channel, comprising the following steps:
[0006] Receive the fault detection result of the main control channel;
[0007] In response to a working fault in the main control channel, the main control channel actuator enable signal is cut off, and the working state of the main control channel is transmitted to the standby control channel;
[0008] In response to the standby control channel receiving the working status signal of the main control channel, the actuator enable signal of the standby control channel is turned on, and the fault condition of the main control channel is reported.
[0009] Optionally, the primary and backup channel switching method of the present application further includes the following steps:
[0010] In response to any actuator failure in the main control channel, the actuator status of the main control channel is transmitted to the standby control channel;
[0011] In response to the standby control channel receiving a status signal of any actuator of the main control channel, the actuator of the standby control channel is turned on, and the remaining actuators of the main control channel still maintain operation in the main control channel.
[0012] Optionally, the primary and backup channel switching method of the present application further includes the following steps:
[0013] Receive the fault detection result of the backup control channel;
[0014] In response to a working failure or an actuator failure of the standby control channel, a standby control channel failure condition is reported.
[0015] Optionally, the primary and backup channel switching method of the present application further includes the following steps:
[0016] In response to the absence of working faults in the main control channel, the main control channel actuator enable signal is outputted first, and the working state of the main control channel is transmitted to the standby control channel;
[0017] In response to the standby control channel receiving the working state signal of the main control channel, the actuator enable signal of the standby control channel is cut off and is not output.
[0018] Optionally, the main control channel working failure includes: PUB IT failure, hardware watchdog failure, communication failure, power failure, AD circuit failure and channel identification failure.
[0019] Optionally, the main control channel actuator failure includes: actuator Hall sensor failure, position sensor failure, actuator model monitoring failure, actuator current monitoring failure, actuator drive power supply failure, actuator speed sensor failure, actuator stall failure and actuator stroke overlimit failure.
[0020] The present application also provides a dual-redundancy servo system for an unmanned aerial vehicle, comprising: a main control channel, a backup control channel and an electrical isolation module, wherein the main control channel comprises a main control channel fault detection module and a main control channel switching logic module, and the backup control channel comprises a backup control channel fault detection module and a backup control channel switching logic module;
[0021] The output end of the main control channel fault detection module is connected to the input end of the standby control channel switching logic module through the electrical isolation module; the output end of the main control channel fault detection module is also connected to the input end of the main control channel actuator;
[0022] The output end of the standby control channel fault detection module is connected to the input end of the main control channel switching logic module through the electrical isolation module; the output end of the standby control channel fault detection module is also connected to the input end of the standby control channel actuator.
[0023] Optionally, the electrical isolation module includes a capacitive isolator.
[0024] Beneficial Effects
[0025] The invention provided in the present application realizes effective electrical isolation between the main control channel and the backup control channel by introducing an electrical isolation module. When an abnormal situation such as a short circuit or electromagnetic interference occurs in one channel, it is quickly switched to another channel through redundant switching. Since the two channels are electrically isolated, the UAV flight control system can continue to work normally, thereby effectively avoiding servo system function failure or performance degradation caused by channel failure.
[0026] This application completes the intelligent switching of the main and backup channels through the cooperation of the channel switching logic module and the fault detection module. The servo system can quickly and accurately complete the switching of the main and backup channels according to actual needs and fault conditions, ensuring the stability and safety of the drone when performing tasks. BRIEF DESCRIPTION OF THE DRAWINGS
[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.
[0028] Figure 1 A flow chart of a primary-backup channel switching provided in an embodiment of the present application;
[0029] Figure 2 A schematic structural diagram of a dual-redundancy servo system for an unmanned aerial vehicle provided in another embodiment of the present application. DETAILED DESCRIPTION
[0030] The present application is further described in detail below in conjunction with the accompanying drawings and examples, but it should be noted that these implementation methods are not limitations of the present application, and equivalent changes or substitutions in functions, methods, or structures made by ordinary technicians in the field based on these implementation methods are all within the scope of protection of the present application.
[0031] In the description of the embodiments of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the creation of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the creation of the present application.
[0032] In addition, the terms "first", "second", "third", etc. 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", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the invention of this application, unless otherwise specified, the meaning of "plurality" is two or more.
[0033] 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 mechanical connection or an electrical 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 the invention of this application can be understood by specific circumstances.
[0034] like Figure 1 As shown, a method 100 for switching between a primary and a secondary channel is provided, comprising the following steps:
[0035] S101: receiving the fault detection result of the main control channel;
[0036] S102: In response to a working fault in the main control channel, cutting off the main control channel actuator enable signal, and transmitting the working state of the main control channel to the standby control channel;
[0037] S103: In response to the standby control channel receiving the working status signal of the main control channel, the actuator enable signal of the standby control channel is turned on, and the fault condition of the main control channel is reported.
[0038] In some embodiments, the primary and backup channel switching method of the present application further includes the following steps:
[0039] In response to any actuator failure in the main control channel, the actuator status of the main control channel is transmitted to the standby control channel;
[0040] In response to the standby control channel receiving a status signal of any actuator of the main control channel, the actuator of the standby control channel is turned on, and the remaining actuators of the main control channel still maintain operation in the main control channel.
[0041] In some embodiments, the primary and backup channel switching method of the present application further includes the following steps:
[0042] Receive the fault detection result of the backup control channel;
[0043] In response to a working failure or an actuator failure of the standby control channel, a standby control channel failure condition is reported.
[0044] In some embodiments, the primary and backup channel switching method of the present application further includes the following steps:
[0045] In response to the absence of working faults in the main control channel, the main control channel actuator enable signal is outputted first, and the working state of the main control channel is transmitted to the standby control channel;
[0046] In response to the standby control channel receiving the working state signal of the main control channel, the actuator enable signal of the standby control channel is cut off and is not output.
[0047] Specifically, when the servo system is working, the main and backup channels work simultaneously, but the main control channel actuator enable signal is output first, and the backup channel actuator enable signal is not output, which is equivalent to hot engine backup.
[0048] In some embodiments, the main control channel working failure includes: PUB IT failure, hardware watchdog failure, communication failure, power failure, AD circuit failure and channel identification failure.
[0049] In some embodiments, the main control channel actuator failure includes: actuator Hall sensor failure, position sensor failure, actuator model monitoring failure, actuator current monitoring failure, actuator drive power supply failure, actuator speed sensor failure, actuator stall failure and actuator stroke overlimit failure.
[0050] like Figure 2 As shown, a dual-redundancy servo system for unmanned aerial vehicles is provided, including: a main control channel, a backup control channel and an electrical isolation module, the main control channel includes a main control channel fault detection module and a main control channel switching logic module, the backup main control channel includes a backup control channel fault detection module and a backup control channel switching logic module;
[0051] The output end of the main control channel fault detection module is connected to the input end of the standby control channel switching logic module through the electrical isolation module; the output end of the main control channel fault detection module is also connected to the input end of the main control channel actuator;
[0052] The output end of the standby control channel fault detection module is connected to the input end of the main control channel switching logic module through the electrical isolation module; the output end of the standby control channel fault detection module is also connected to the input end of the standby control channel actuator.
[0053] In some embodiments, the electrical isolation module includes a capacitive isolator.
[0054] Specifically, the main control channel is the main control path of the UAV servo system, responsible for receiving instructions and processing various data tasks to realize the UAV servo control tasks; a fault detection module is set on the main control channel, which is responsible for real-time monitoring and judgment of the servo system. Once a fault is found, it will be reported immediately so that the channel switching logic module can perform the switching task. The backup control channel is a redundant backup of the main control channel. Under normal circumstances, it is in standby mode and monitors the working status of the main control channel. When the main control channel is detected to have a fault or performance degradation, the backup control channel immediately takes over the control task according to the preset logic. The channel switching logic module is the core decision-making body of the entire switching system. It performs switching according to the preset switching strategy and the main and backup channel status information obtained in real time.
[0055] This method is applied to the dual-redundancy servo system of UAV. The system is divided into two channels, namely the main control channel and the backup control channel. The two channels are very similar in terms of hardware composition and functional logic, and the basic control functions of the main and backup channels are exactly the same. When the servo system is working, the main and backup channels work at the same time, but the actuator enable signal of the main control channel is output first, and the actuator enable signal of the backup control channel is not output, which is equivalent to hot engine backup.
[0056] Both the main control channel and the backup control channel are equipped with fault detection modules. The monitoring results will be processed by fault logic synthesis in their respective channel switching logic modules, and then the fault analysis results will be generated to determine whether the channel is working normally. If the channel fails, the corresponding treatment measures will be taken. When the main control channel fails, the actuator enable signal of the main control channel will be cut off, and the actuator enable signal of the backup control channel will be connected, and the fault will be reported. When the main control channel of an actuator in the main control channel fails, the actuator will switch to the backup control channel, and the remaining actuators of the main control channel will remain in the main control channel. When the backup control channel fails or the actuator fails, only the fault will be reported, and no other operations will be performed. Regarding the channel switching operation, the channel switching logic module performs comprehensive processing. The module receives the status information of the other channel, sends the working status of this channel to the other channel, and outputs the enable signal of the channel at the same time, ensuring that only one channel is working normally at any time and the other channel is in a locked state.
[0057] This application uses an electrical isolation module to isolate the working state of the main and backup channels from the working state of the actuator, and to isolate the working state of the main and backup channels from the working state of the actuator, ensuring that there is no direct electrical connection between the main control channel and the backup control channel. This design can effectively prevent signal interference caused by coupling between channels, and at the same time, when a short circuit, overload or other fault occurs, it can prevent the fault range from expanding and affecting another channel, effectively ensuring the flight safety of the drone.
[0058] This application is currently used in the electrical part of a large cargo drone servo system, effectively improving the reliability, safety and stability of the drone servo system. In the face of complex and changing flight environments and potential system failures, this method can ensure that the drone can safely and stably perform various flight missions, and reduce the risk of failure of the entire drone servo system due to inter-channel coupling failures.
[0059] The fault detection modules of the primary and backup channels are identical in detection mechanism. Their detection scope covers multiple aspects, including but not limited to the following fault types:
[0060] PUB IT failure: PUB IT failure includes a self-test mode performed by the servo system during the power-on startup process to detect the integrity of basic hardware, including CPU self-test failure, interrupt self-test failure, RAM self-test failure, timer self-test failure, and FLASH self-test failure;
[0061] Hardware watchdog failure: The hardware watchdog is a hardware mechanism used to detect the operating status of the servo system. When the system software is abnormal or crashes, the watchdog timer is not fed in time, triggering a hardware watchdog failure;
[0062] Communication failure: The servo system and the host computer need to exchange data and transmit commands through the communication link. Communication failures include data transmission errors, link interruption, non-compliance with the communication protocol, etc.
[0063] Power failure: Power supply is the basic guarantee for the normal operation of the servo system. Power failure includes unstable power supply, abnormal power supply, abnormal power module output, etc.
[0064] AD circuit failure: AD (digital-to-analog) circuit is responsible for converting analog signals into digital signals. For servo systems, AD (digital-to-analog) circuit plays a vital role. AD circuit failure may cause abnormal signal collection of sensors, etc., and then cause abnormal operation of the servo system;
[0065] Channel identification failure: In a dual-redundancy servo system, channel identification failure means that the servo system cannot identify the primary and backup channels, which will cause system data confusion;
[0066] Actuator Hall sensor failure: Actuators usually rely on Hall sensors to detect changes in the magnetic field to achieve motor commutation. A Hall sensor failure causes the actuator to work abnormally.
[0067] Position sensor failure: The position sensor is a key sensor of the actuator. Position sensor failure will cause the servo system to be unable to accurately determine the position;
[0068] Actuator model monitoring fault: Actuator model monitoring uses mathematical models to monitor the actuator operating status in real time;
[0069] Actuator current monitoring failure: Actuator current monitoring ensures that the actuator operates within the normal current range. Actuator current monitoring failure can promptly detect abnormal conditions such as actuator short circuit and stall;
[0070] Actuator drive power failure: The actuator drive power provides power to the actuator. Abnormal actuator drive power will cause the actuator to work abnormally.
[0071] Actuator speed sensor failure: The actuator speed sensor is used to detect the real-time operating speed of the actuator. Actuator speed sensor failure will cause the servo system to be unable to accurately know the actuator operating speed, affecting the control of the actuator;
[0072] Actuator stall fault: Actuator stall refers to the situation where the actuator cannot move due to excessive external resistance during operation. Real-time detection of actuator stall fault can timely discover the problem and the servo system can take corresponding measures;
[0073] Actuator stroke over limit fault: When the actuator exceeds the effective stroke range, it is an actuator stroke over limit fault, and the servo system takes corresponding measures.
[0074] The above is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application. The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and variations can be made without departing from the technical principles of the present application, and these improvements and variations should also be regarded as the protection scope of the present application.
Claims
1. A method for switching between a primary and a standby channel, characterized in that: include: Receive the fault detection result of the main control channel; In response to a working fault in the main control channel, the main control channel actuator enable signal is cut off, and the working state of the main control channel is transmitted to the standby control channel; In response to the standby control channel receiving the working status signal of the main control channel, the actuator enable signal of the standby control channel is turned on, and the fault condition of the main control channel is reported.
2. A method for switching between a primary and a standby channel according to claim 1, characterized in that: In response to any actuator failure in the main control channel, the main control channel fault actuator is enabled, and the main control channel actuator status is transmitted to the standby control channel; In response to the standby control channel receiving a status signal of any actuator of the main control channel, the actuator of the standby control channel is turned on, and the remaining actuators of the main control channel still maintain operation in the main control channel.
3. A method for switching between a primary and a standby channel according to claim 1, characterized in that: Receive the fault detection result of the backup control channel; In response to a working failure or an actuator failure of the standby control channel, a standby control channel failure condition is reported.
4. A method for switching between a primary and a standby channel according to claim 1, characterized in that: In response to the absence of working faults in the main control channel, the main control channel actuator enable signal is outputted first, and the working state of the main control channel is transmitted to the standby control channel; In response to the standby control channel receiving the working state signal of the main control channel, the actuator enable signal of the standby control channel is cut off and is not output.
5. A method for switching a primary channel to a backup channel according to claim 1, characterized in that: The working faults of the master control channel include: PUBIT fault, hardware watchdog fault, communication fault, power supply fault, AD circuit fault and channel identification fault.
6. A method for switching between a primary and a standby channel according to claim 2, characterized in that: The actuator failures of the main control channel include: actuator Hall sensor failure, position sensor failure, actuator model monitoring failure, actuator current monitoring failure, actuator drive power failure, actuator speed sensor failure, actuator stall failure and actuator stroke overlimit failure.
7. A dual-redundancy servo system for an unmanned aerial vehicle, characterized in that: It includes: a main control channel, a backup control channel and an electrical isolation module, wherein the main control channel includes a main control channel fault detection module and a main control channel switching logic module, and the backup control channel includes a backup control channel fault detection module and a backup control channel switching logic module; The output end of the main control channel fault detection module is connected to the input end of the standby control channel switching logic module through the electrical isolation module; the output end of the main control channel fault detection module is also connected to the input end of the main control channel actuator; The output end of the standby control channel fault detection module is connected to the input end of the main control channel switching logic module through the electrical isolation module; the output end of the standby control channel fault detection module is also connected to the input end of the standby control channel actuator.
8. The dual-redundancy servo system for unmanned aerial vehicles according to claim 7, characterized in that: The electrical isolation module includes a capacitive isolator.