Airship control right switching system and method based on heartbeat signal detection

Abstract

The invention discloses an airship control right switching system and method based on heartbeat signal detection. In the aspect of the system, main communication equipment, emergency communication equipment, a communication switching board, a main flight control board, an emergency flight control board, a data acquisition board, an execution drive coding board and a terminal decoding board are included. And the communication switching board is provided with a corresponding interface, so that signal switching between the main communication equipment and the emergency communication equipment can be realized. The main flight control board and the emergency flight control board are integrated with a main control chip, a peripheral circuit, an onboard sensor and a heartbeat signal module, and respectively output six paths of PWM control signals. The main flight control board processes signals and sends control signals and heartbeat signals when normal, and the emergency flight control board receives the signals through the communication switching board and sends control instructions when faults occur. The data acquisition board acquires attitude and engine rotating speed sensor data and transmits the attitude and engine rotating speed sensor data to the flight control board through a CAN bus. And the execution driving coding board receives the PWM signal, and outputs the PWM signal to the terminal decoding board after logic processing and differential driving conversion so as to control each steering engine. The logic judgment unit judges the ownership of the control right according to heartbeat and communication state signals, and the switching unit is driven to select a control instruction according to the control right ownership. According to the method, the reliable switching of the airship control right is realized by detecting discrete and combined heartbeat signals of the main flight control board, monitoring period deviation and comparing the signals, judging the state according to a preset threshold value and switching to the emergency flight control board when the state is abnormal.

Description

Technical Field

[0001] This invention relates to the field of airship control technology, specifically to an airship control handover system and method based on heartbeat signal detection. Background Technology

[0002] While a main / emergency dual flight control board architecture is standard in airship flight control systems, existing technologies have significant shortcomings in terms of the reliability and timeliness of control switching, specifically manifested in three core issues:

[0003] First, the granularity of flight control status detection is insufficient. Traditional solutions rely on a single "heartbeat" signal to determine the operating status of the main flight control board, which can only identify explicit faults such as hardware shutdowns, but cannot monitor implicit anomalies in critical tasks such as navigation calculation and attitude control (such as execution time exceeding the reference time by more than 20% or logic processing errors). Due to the lack of discrete mission-level heartbeat signal feedback, the main flight control board may still output incorrect PWM control commands when some functions fail, leading to airship attitude instability or trajectory deviation.

[0004] Secondly, the switching criteria are singular and lack coordination. The existing system only uses the disappearance of a single heartbeat signal from the main flight control board or the interruption of the main communication link as the switching trigger condition, without integrating flight control mission status and communication status for multi-dimensional judgment. When the main communication equipment experiences a brief signal attenuation (not a complete interruption) or when individual tasks on the main flight control board malfunction but the overall heartbeat is still maintained, it is easy to cause erroneous switching (activation of emergency mode under normal conditions) or missed switching (delayed response in the event of a substantial failure), resulting in conflicts or interruptions in the control commands of the actuators, threatening flight safety.

[0005] Third, the switching accuracy and response speed are insufficient. Traditional drive switching units adopt a bus-level signal overall switching method, without designing a mission-level redundant switching mechanism for the airship's six independent PWM control signals (corresponding to actuators such as servos). When a signal on the main flight control board is abnormal, the system cannot achieve precise single-channel selection and can only switch to the emergency flight control board across the entire domain, resulting in the interruption of non-faulty mission control. At the same time, due to the lack of coordinated verification of discrete and combined heartbeat signals, it is impossible to identify progressive faults in advance, and the switching delay often exceeds the allowable range of airship control accuracy. Furthermore, the emergency flight control board is prone to instantaneous command jumps due to data synchronization lag, affecting flight smoothness.

[0006] In summary, existing technologies, due to the lack of mission-level detection, insufficient multi-dimensional criteria, and inadequate precise switching capabilities, are unable to meet the stringent reliability requirements of airships for control handover under complex operating conditions. How to achieve real-time status assessment and seamless switching between the main and emergency flight control boards through fine-grained heartbeat signal detection and multi-source information fusion has become an urgent technical challenge to be solved. Summary of the Invention

[0007] The purpose of this invention is to address the problems existing in current airship control handover technologies, such as lack of mission-level detection, insufficient multi-dimensional criteria, and lack of precise handover capabilities. It provides an airship control handover system and method based on heartbeat signal detection. By using fine-grained heartbeat signal detection and multi-source information fusion, it achieves real-time status assessment and seamless handover of the main / emergency flight control board, significantly improving the reliability and smoothness of flight control.

[0008] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0009] A system for switching control of an airship based on heartbeat signal detection includes a main communication device and an emergency communication device. The control system also includes a communication switching board, a main flight control board, an emergency flight control board, a data acquisition board, an execution drive encoding board, and a terminal decoding board.

[0010] The communication switching board is equipped with a main communication device interface and an emergency communication device interface. The communication switching board is connected to the main communication device and the emergency communication device respectively, and is used for signal switching between the main communication device and the emergency communication device.

[0011] The main flight control board and the emergency flight control board integrate a main control chip and peripheral circuits, onboard sensors, a heartbeat signal module, and output 6 PWM control signals respectively.

[0012] The main flight control board is connected to the communication switching board via a first serial port, and is used to process the signals transmitted from the communication switching board and send PWM control signals and heartbeat signals to the execution drive encoder board; the emergency flight control board is connected to the communication switching board via a second serial port, and is used to receive the signals transmitted from the communication switching board and send PWM control signals and heartbeat signals to the execution drive encoder board when the main flight control board fails.

[0013] The data acquisition board is used to acquire data from the attitude sensor and engine speed sensor, and transmits the data to the main flight control board and emergency flight control board via the CAN bus interface.

[0014] The execution drive encoder board is used to receive PWM control signals from the main flight control board or the emergency flight control board, and convert the signals into differential signals and output them to the terminal decoder board through the logic processing unit and the differential drive unit, while outputting the signals in the form of TTL signals.

[0015] The terminal decoding board receives the differential signal output by the execution drive encoding board, decodes it, and outputs a TTL signal to control the left and right throttle servos, speed servos, upper tail servos, lower tail servos, left horizontal tail servos, and right horizontal tail servos.

[0016] As a further improvement to the above technical solution, the execution drive encoding board includes a logic judgment unit and a drive switching unit; the signal input terminal of the logic judgment unit is connected to the main flight control heartbeat signal output terminal of the main flight control board, the emergency flight control heartbeat signal output terminal of the emergency flight control board, and the main communication status signal output terminal and the emergency communication status signal output terminal of the communication switching board, respectively; the signal input terminal of the drive switching unit is connected to the main control command output terminal of the main flight control board and the emergency control command output terminal of the emergency flight control board, respectively, and the signal output terminal is connected to the terminal decoding board of the airship actuator.

[0017] As a further improvement to the above technical solution, the logic judgment unit determines the current control ownership and outputs a control switching signal based on the main flight control heartbeat signal, the emergency flight control heartbeat signal, the main communication status signal, and the emergency communication status signal; the drive switching unit selects the control command of the main flight control board or the emergency flight control board based on the control switching signal, and outputs it to the terminal decoding board after drive processing to control the airship's actuators.

[0018] As a further improvement to the above technical solution, the drive switching unit includes at least six 2-to-1 analog switches, each analog switch corresponding to an actuator of the airship, including a horizontal tail servo, a vertical tail servo, a turn yaw servo, an engine throttle servo, an engine shutdown controller, and an auxiliary airbag inflation valve; the main flight control board outputs main control commands PWM0-PWM5, and the emergency flight control board outputs emergency control commands PWM0-PWM5. Each analog switch selects the main control command or the emergency control command according to the control switching signal, which is converted into a differential signal by the differential drive circuit and then output to the terminal decoding board.

[0019] As a further improvement to the above technical solution, a method for switching control of an airship based on heartbeat signal detection includes the following steps:

[0020] S1. The execution drive encoder board detects the discrete "heartbeat" signal and the combined "heartbeat" signal output by the main flight control board in real time. The discrete "heartbeat" signal corresponds to the operating status of four key tasks in the flight control computer: navigation and attitude calculation, airship attitude control, airship altitude control, and airship trajectory control.

[0021] S2. By executing the discrete "heartbeat" signal detection unit in the driver encoder board, the period and time deviation of the discrete "heartbeat" signal are monitored at a frequency of 100Hz to obtain the execution time status and update status of each task.

[0022] S3. Combine the discrete "heartbeat" signals in the logic circuit to generate a combined verification signal, compare it with the original combined "heartbeat" signal output by the main flight control board in the secondary verification module, and determine the operating status of the main flight control board in combination with the preset error threshold.

[0023] S4. If the main flight control board is found to be malfunctioning, the drive encoder board switches the PWM signal output by the emergency flight control board. The signal is converted into a differential signal by the differential drive unit and then output to the terminal decoder board. The control status signal is updated to achieve control switching.

[0024] As a further improvement to the above technical solution, step S1 specifically includes:

[0025] The flight control computer runs navigation and attitude calculation, airship attitude control, airship altitude control, and airship trajectory control tasks at a frequency of 100Hz. The discrete "heartbeat" signals correspond one-to-one with the four types of tasks. During normal operation, the deviation between the actual execution time of each task and the default reference time does not exceed 20%.

[0026] As a further improvement to the above technical solution, step S3 specifically includes:

[0027] The secondary verification module adopts a preset error threshold judgment mechanism. When the difference between the discrete signal combination result and the original combination "heartbeat" signal exceeds the threshold, the main flight control board is judged to be abnormal. The preset error threshold is optimized and set according to the airship flight control accuracy requirements and signal transmission characteristics.

[0028] As a further improvement to the above technical solution, step S4 specifically includes:

[0029] The main flight control board and the emergency flight control board each output 5 "heartbeat" signals to the execution drive encoding board, of which 4 are discrete "heartbeat" signals corresponding to four types of tasks, and 1 is a combined "heartbeat" signal; the combined "heartbeat" signal is a comprehensive state characterization signal after the flight control computer logically combines the 4 discrete "heartbeat" signals.

[0030] As a further improvement to the above technical solution, the detection conditions for the discrete "heartbeat" signal and the combined "heartbeat" signal include: if the period of the discrete "heartbeat" signal exceeds the normal range (default time ±20%), or if the combined "heartbeat" signal is inconsistent and exceeds the allowable error range, then the main flight control board is determined to be abnormal.

[0031] As a further improvement to the above technical solution, step S2, the anomaly detection and fault prediction counting calculation of the discrete "heartbeat" signal specifically includes the following steps:

[0032] SS1. Calculate the task interval error time: For the discrete "heartbeat" signals of four key tasks, namely navigation and attitude calculation, airship attitude control, airship altitude control, and airship trajectory control, obtain the actual task interval time Tap (i.e., the time interval between two adjacent signals) and compare it with the standard task interval time Tdp = 10000us (corresponding to a signal period of 100Hz) to calculate the adjacent task error time DTi (i = 1, 2, 3, 4 correspond to the four types of tasks respectively).

[0033] The formula is: DTi = Tap, i - Tdp and take its absolute value |DTi|;

[0034] SS2. Update Single-Task Fault Count Value: Based on the value of |DTi|, increase or decrease the fault count value EKi (i = 1, 2, 3, 4 correspond to the predicted fault count values ​​of the four types of tasks, respectively). The specific rules are as follows:

[0035]

[0036] SS3. Calculate the comprehensive fault prediction count: Based on the airship flight mission requirements, set fault judgment weighting coefficients Km1, Km2, Km3, and Km4 for four mission types (satisfying Km1+Km2+Km3+Km4≠0). Calculate the final fault prediction count EKall through weighted average, using the following formula:

[0037]

[0038] SS4. Anomaly Detection: When EKall exceeds the preset fault detection threshold, the main flight control board is determined to be malfunctioning, triggering a switch of control.

[0039] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0040] 1. Task-level fine-grained detection to identify local anomalies in advance;

[0041] Existing technologies lack mission-level operational status monitoring and can only detect overall flight control system faults. This invention uses discrete "heartbeat" signals corresponding to four key tasks, including navigation and attitude calculation, and attitude control, to monitor the execution time deviation of each task in real time at a frequency of 100Hz (allowing ±20%). This allows for precise location of anomalies in individual task modules (such as a lag or failure of a certain type of control algorithm), rather than waiting for the entire system to crash before triggering a switch, significantly improving the timeliness and precision of fault detection.

[0042] II. Multi-dimensional criterion fusion reduces the risk of misjudgment and missed judgment;

[0043] Traditional methods rely on a single heartbeat signal or communication status to determine faults, which can lead to false positives (such as accidental handovers triggered by brief signal interference) or false negatives (such as task-level faults not being covered by the overall heartbeat). This invention achieves cross-validation through the following multi-dimensional criteria:

[0044] Discrete signal periodicity detection: Monitor whether the execution time of each task exceeds the limit;

[0045] Combination signal logic comparison: Combine discrete signals to generate a verification signal, and perform a secondary verification with the original combined heartbeat signal output by the flight control board. Combine this with a preset error threshold to determine the system consistency.

[0046] Communication status collaborative judgment: Synchronously integrate the status signals of main / emergency communication equipment.

[0047] Multi-source information fusion makes control switching decisions more reliable, avoids misjudgments based on a single dimension, and improves system robustness.

[0048] Third, precise and seamless switching ensures smooth flight;

[0049] Existing technologies have simple switching logic, such as relying solely on the disappearance of the main flight controller heartbeat, which may lead to switching delays or control signal interruptions, causing flight disturbances. This invention addresses this by:

[0050] Logic judgment unit: Real-time integration of multiple signals such as flight control heartbeat and communication status to dynamically determine the ownership of control and ensure instantaneous triggering when the switching conditions are met;

[0051] Drive switching unit: It adopts a 6-channel two-to-one analog switch, each corresponding to an independent actuator (such as servo, throttle). It synchronously selects the main / emergency flight control command according to the control switching signal, and realizes smooth signal transition through differential drive circuit, avoiding interruption or sudden change of PWM control signal, realizing "seamless switching" and significantly improving the continuity and smoothness of flight control.

[0052] IV. Enhanced end-to-end reliability with redundant design across multiple stages;

[0053] Hardware redundancy architecture: The main / emergency flight control board operates in parallel, and the data acquisition board transmits sensor data to both boards simultaneously via the CAN bus to ensure that the status of the two boards is synchronized;

[0054] Independent verification at the execution layer: The execution driver encoder board, as an independent hardware module, directly monitors the heartbeat and communication status of the flight control board, avoiding redundancy failures caused by a single node failure in traditional centralized control.

[0055] Multimodal control assurance: Supports signal switching between main communication equipment and emergency communication equipment, and combined with flight control layer redundancy, forms full-link redundancy of "communication-flight control-execution", which significantly improves the airship's fault resistance capability in complex environments.

[0056] V. Dynamic Adaptability and Engineering Optimization;

[0057] The preset error threshold can be optimized and adjusted according to the airship's flight control accuracy requirements and signal transmission characteristics, taking into account both detection sensitivity and anti-interference capability; the differential signal transmission and TTL signal backup mechanism adapt to the anti-electromagnetic interference requirements in long-distance communication scenarios of airships, and improve the system's engineering adaptability in practical applications.

[0058] In summary, this invention systematically solves the core defects of existing technologies in control switching through mission-level fine-grained monitoring, multi-dimensional criterion fusion, and precise switching mechanisms, significantly improving the reliability, safety, and smoothness of airship flight control. It is especially suitable for long-endurance, high-load airship scenarios with extremely high stability requirements. Attached Figure Description

[0059] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0060] Figure 1 This is a block diagram illustrating the principle of the airship control switching system.

[0061] Figure 2 This is a diagram of the flight control signal switching and monitoring system architecture.

[0062] Figure 3 This is a multi-task heartbeat timing diagram for the airship flight control system.

[0063] Figure 4 A flowchart for the periodic task scheduling of the airship flight control system;

[0064] Figure 5 Timing diagram of the "heartbeat" signal for multi-task control of an airship;

[0065] Figure 6 The time interval and timing characteristics of the navigation and attitude calculation tasks are shown in the graph. Detailed Implementation

[0066] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0067] Example 1

[0068] like Figures 1 to 2 As shown, the system consists of a main communication device, an emergency communication device, a communication switching board, a main flight control board, an emergency flight control board, an execution drive encoding board, a terminal decoding board group (terminal decoding boards 1 to 6), and a data acquisition board. All components are interconnected via a flight control data bus and specific interfaces to form a complete control link.

[0069] The communication switching board is equipped with a main communication device interface and an emergency communication device interface. The communication switching board is connected to the main communication device and the emergency communication device respectively, and is used for signal switching between the main communication device and the emergency communication device.

[0070] The main flight control board and the emergency flight control board integrate the main control chip and peripheral circuits, onboard sensors, heartbeat signal module, and output 6 PWM control signals respectively.

[0071] The main flight control board is connected to the communication switching board via the first serial port. It is used to process the signals transmitted from the communication switching board and send PWM control signals and heartbeat signals to the execution drive encoding board. The emergency flight control board is connected to the communication switching board via the second serial port. It is used to receive the signals transmitted from the communication switching board and send PWM control signals and heartbeat signals to the execution drive conversion board when the main flight control board fails.

[0072] The data acquisition board is used to acquire data from the attitude sensor and engine speed sensor, and transmits it to the main flight control board and emergency flight control board via the CAN bus interface;

[0073] Under normal operating conditions, the main communication device transmits communication signals to the communication switching board, which then directs the signals to the main flight control board. The main control chip and peripheral circuits within the main flight control board process the signals, combining them with real-time data collected by onboard sensors, and output six PWM signals to the execution drive encoder board. The logic judgment module within the execution drive encoder board discriminates and processes the input PWM signals, then converts them into differential signals via a differential drive unit, which are then output to each terminal decoding board.

[0074] Specifically, terminal decoder board 1 controls the left / right needle servo, terminal decoder board 2 controls the turn servo, terminal decoder board 3 controls the upper tail servo, terminal decoder board 4 controls the lower tail servo, terminal decoder board 5 controls the left horizontal tail servo, and terminal decoder board 6 controls the right horizontal tail servo, thereby precisely driving each servo to perform corresponding actions.

[0075] Meanwhile, the data acquisition board collects data in real time from its attitude sensors, engine speed sensors, and other devices via its CAN bus interface, and transmits the data to the flight control data bus via the CAN bus, enabling comprehensive monitoring of the system's operating status. The main flight control board interacts with external devices via the CAN bus interface and outputs a heartbeat signal to monitor its own operating status. If the main flight control board malfunctions, the communication switching board will automatically switch to the emergency communication device, and the emergency flight control board will take over the control tasks. The PWM signal output by the emergency flight control board, through the same execution drive path (the logic judgment and differential drive conversion of the execution drive encoder board), controls each terminal decoder board and corresponding servo, ensuring that the flight control system can still operate reliably in abnormal situations, guaranteeing the continuity and stability of flight control.

[0076] Specifically, the execution drive encoding board includes a logic judgment unit and a drive switching unit. The signal input terminals of the logic judgment unit are connected to the main flight control heartbeat signal output terminal of the main flight control board, the emergency flight control heartbeat signal output terminal of the emergency flight control board, and the main communication status signal output terminal and emergency communication status signal output terminal of the communication switching board, respectively. The signal input terminals of the drive switching unit are connected to the main control command output terminal of the main flight control board and the emergency control command output terminal of the emergency flight control board, respectively, and the signal output terminal is connected to the terminal decoding board of the airship's actuators. Based on the main flight control heartbeat signal, the emergency flight control heartbeat signal, the main communication status signal, and the emergency communication status signal, the logic judgment unit determines the current control authority and outputs a control authority switching signal. Based on the control authority switching signal, the drive switching unit selects the control command from either the main flight control board or the emergency flight control board, processes it, and outputs it to the terminal decoding board to control the airship's actuators.

[0077] Specifically, the drive switching unit includes at least six 2-to-1 analog switches, each corresponding to an actuator of the airship, including a horizontal tail servo, a vertical tail servo, a turn yaw servo, an engine throttle servo, an engine shutdown controller, and an auxiliary airbag inflation valve; the main flight control board outputs main control commands PWM0-PWM5, and the emergency flight control board outputs emergency control commands PWM0-PWM5. Each analog switch selects the main control command or the emergency control command according to the control switching signal, which is converted into a differential signal by the differential drive circuit and then output to the terminal decoding board.

[0078] Example 2

[0079] like Figure 3 As shown, in a further improvement to the above embodiment 1, a method for switching control of an airship based on heartbeat signal detection includes the following steps:

[0080] S1. The execution drive encoder board detects the discrete and combined "heartbeat" signals output by the main flight control board in real time. The discrete "heartbeat" signals correspond to the operating status of four key tasks in the flight control computer: navigation and attitude calculation, airship attitude control, airship altitude control, and airship trajectory control.

[0081] S2. By executing the discrete "heartbeat" signal detection unit in the driver encoder board, the period and time deviation of the discrete "heartbeat" signal are monitored at a frequency of 100Hz to obtain the execution time status and update status of each task.

[0082] S3. Combine the discrete "heartbeat" signals in the logic circuit to generate a combined verification signal, compare it with the original combined "heartbeat" signal output by the main flight control board in the secondary verification module, and determine the operating status of the main flight control board in combination with the preset error threshold.

[0083] S4. If the main flight control board is found to be malfunctioning, the drive encoder board switches the PWM signal output by the emergency flight control board. The signal is converted into a differential signal by the differential drive unit and then output to the terminal decoder board. The control status signal is updated to achieve control switching.

[0084] Specifically, step S1 is as follows:

[0085] The flight control computer runs navigation and attitude calculation, airship attitude control, airship altitude control, and airship trajectory control tasks at a frequency of 100Hz. The discrete "heartbeat" signals correspond one-to-one with the four types of tasks. During normal operation, the deviation between the actual execution time of each task and the default reference time does not exceed 20%.

[0086] Specifically, step S3 is as follows:

[0087] The secondary verification module adopts a preset error threshold judgment mechanism. When the difference between the discrete signal combination result and the original combination "heartbeat" signal exceeds the threshold, the main flight control board is judged to be abnormal. The preset error threshold is optimized and set according to the airship flight control accuracy requirements and signal transmission characteristics.

[0088] Specifically, step S4 is as follows:

[0089] The main flight control board and the emergency flight control board each output 5 "heartbeat" signals to the execution drive encoder board. Among them, 4 are discrete "heartbeat" signals corresponding to four types of tasks, and 1 is a combined "heartbeat" signal. The combined "heartbeat" signal is a comprehensive status characterization signal after the flight control computer logically combines the 4 discrete "heartbeat" signals.

[0090] Specifically, the detection conditions for discrete and combined "heartbeat" signals include: if the period of the discrete "heartbeat" signal exceeds the normal range (default time ±20%), or if the combined "heartbeat" signal is inconsistent and exceeds the allowable error range, then the main flight control board is determined to be abnormal.

[0091] Example 3

[0092] like Figures 4 to 6 As shown, in a further improvement of the above embodiment 2, step S2, the anomaly detection and fault prediction count calculation of the discrete "heartbeat" signal specifically includes the following steps:

[0093] SS1. Calculate the task interval error time: For the discrete "heartbeat" signals of four key tasks, namely navigation and attitude calculation, airship attitude control, airship altitude control, and airship trajectory control, obtain the actual task interval time Tap (i.e., the time interval between two adjacent signals) and compare it with the standard task interval time Tdp = 10000us (corresponding to a signal period of 100Hz) to calculate the adjacent task error time DTi (i = 1, 2, 3, 4 correspond to the four types of tasks respectively).

[0094] The formula is: DTi = Tap, i - Tdp and take its absolute value |DTi|;

[0095] SS2. Update Single-Task Fault Count Value: Based on the value of |DTi|, increase or decrease the fault count value EKi (i = 1, 2, 3, 4 correspond to the predicted fault count values ​​of the four types of tasks, respectively). The specific rules are as follows:

[0096]

[0097] SS3. Calculate the comprehensive fault prediction count: Based on the airship flight mission requirements, set fault judgment weighting coefficients Km1, Km2, Km3, and Km4 for four mission types (satisfying Km1+Km2+Km3+Km4≠0). Calculate the final fault prediction count EKall through weighted average, using the following formula:

[0098]

[0099] SS4. Anomaly Detection: When EKall exceeds the preset fault detection threshold, the main flight control board is determined to be malfunctioning, triggering a switch of control.

[0100] It should be noted that, in this document, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0101] This article uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only for the purpose of helping to understand the method and core ideas of the present invention.

[0102] The above are merely preferred embodiments of the present invention. It should be noted that, due to the limitations of written expression, there are objectively infinite specific structures. For those skilled in the art, several improvements, modifications, or variations can be made without departing from the principles of the present invention, and the above technical features can be combined in an appropriate manner. These improvements, modifications, variations, or combinations, or the direct application of the inventive concept and technical solution to other situations without modification, should all be considered as protection of the present invention.

Claims

1. A system for switching control of an airship based on heartbeat signal detection, comprising a main communication device and an emergency communication device, characterized in that, The control system also includes a communication switching board, a main flight control board, an emergency flight control board, a data acquisition board, an execution drive encoding board, and a terminal decoding board; The communication switching board is equipped with a main communication device interface and an emergency communication device interface. The communication switching board is connected to the main communication device and the emergency communication device respectively, and is used for signal switching between the main communication device and the emergency communication device. The main flight control board and the emergency flight control board integrate a main control chip and peripheral circuits, onboard sensors, a heartbeat signal module, and output 6 PWM control signals respectively. The main flight control board is connected to the communication switching board via a first serial port, and is used to process the signals transmitted from the communication switching board and send PWM control signals and heartbeat signals to the execution drive encoder board; the emergency flight control board is connected to the communication switching board via a second serial port, and is used to receive the signals transmitted from the communication switching board and send PWM control signals and heartbeat signals to the execution drive encoder board when the main flight control board fails. The data acquisition board is used to acquire data from the attitude sensor and engine speed sensor, and transmits the data to the main flight control board and emergency flight control board via the CAN bus interface. The execution drive encoder board is used to receive PWM control signals from the main flight control board or the emergency flight control board, and convert the signals into differential signals and output them to the terminal decoder board through the logic processing unit and the differential drive unit, while outputting the signals in the form of TTL signals. The terminal decoding board receives the differential signal output by the execution drive encoding board, decodes it, and outputs a TTL signal to control the left and right throttle servos, speed servos, upper tail servos, lower tail servos, left horizontal tail servos, and right horizontal tail servos.

2. The airship control handover system based on heartbeat signal detection according to claim 1, characterized in that, The execution drive encoding board includes a logic judgment unit and a drive switching unit; the signal input terminal of the logic judgment unit is connected to the main flight control heartbeat signal output terminal of the main flight control board, the emergency flight control heartbeat signal output terminal of the emergency flight control board, and the main communication status signal output terminal and the emergency communication status signal output terminal of the communication switching board, respectively; the signal input terminal of the drive switching unit is connected to the main control command output terminal of the main flight control board and the emergency control command output terminal of the emergency flight control board, respectively, and the signal output terminal is connected to the terminal decoding board of the airship actuator.

3. The airship control handover system based on heartbeat signal detection according to claim 2, characterized in that, The logic judgment unit determines the current control ownership and outputs a control switching signal based on the main flight control heartbeat signal, emergency flight control heartbeat signal, main communication status signal, and emergency communication status signal. The drive switching unit selects the control command of the main flight control board or the emergency flight control board based on the control switching signal, and outputs it to the terminal decoding board after drive processing to control the airship's actuators.

4. The airship control switching system based on heartbeat signal detection according to claim 2, characterized in that, The drive switching unit includes at least six 2-to-1 analog switches, each analog switch corresponding to one actuator of the airship. It includes a horizontal tail servo, a vertical tail servo, a turn yaw servo, an engine throttle servo, an engine shutdown controller, and a secondary airbag inflation valve; the main flight control board outputs main control commands PWM0-PWM5, and the emergency flight control board outputs emergency control commands PWM0-PWM5. Each analog switch selects the main control command or the emergency control command according to the control switching signal, which is converted into a differential signal by the differential drive circuit and then output to the terminal decoding board.

5. A method for switching control of an airship based on heartbeat signal detection, characterized in that, Includes the following steps: S1. The execution drive encoder board detects the discrete "heartbeat" signal and the combined "heartbeat" signal output by the main flight control board in real time. The discrete "heartbeat" signal corresponds to the operating status of four key tasks in the flight control computer: navigation and attitude calculation, airship attitude control, airship altitude control, and airship trajectory control. S2. By executing the discrete "heartbeat" signal detection unit in the driver encoder board, the period and time deviation of the discrete "heartbeat" signal are monitored at a frequency of 100Hz to obtain the execution time status and update status of each task. S3. Combine the discrete "heartbeat" signals in the logic circuit to generate a combined verification signal, compare it with the original combined "heartbeat" signal output by the main flight control board in the secondary verification module, and determine the operating status of the main flight control board in combination with the preset error threshold. S4. If the main flight control board is found to be malfunctioning, the drive encoder board switches the PWM signal output by the emergency flight control board. The signal is converted into a differential signal by the differential drive unit and then output to the terminal decoder board. The control status signal is updated to achieve control switching.

6. The airship control handover method based on heartbeat signal detection according to claim 5, characterized in that, Step S1 specifically involves: The flight control computer runs navigation and attitude calculation, airship attitude control, airship altitude control, and airship trajectory control tasks at a frequency of 100Hz. The discrete "heartbeat" signals correspond one-to-one with the four types of tasks. During normal operation, the deviation between the actual execution time of each task and the default reference time does not exceed 20%.

7. The airship control handover method based on heartbeat signal detection according to claim 5, characterized in that, Step S3 specifically involves: The secondary verification module adopts a preset error threshold judgment mechanism. When the difference between the discrete signal combination result and the original combination "heartbeat" signal exceeds the threshold, the main flight control board is judged to be abnormal. The preset error threshold is optimized and set according to the airship flight control accuracy requirements and signal transmission characteristics.

8. The airship control handover method based on heartbeat signal detection according to claim 5, characterized in that, Step S4 specifically involves: The main flight control board and the emergency flight control board each output 5 "heartbeat" signals to the execution drive encoder board, of which 4 are discrete "heartbeat" signals corresponding to four types of tasks, and 1 is a combined "heartbeat" signal; the combined "heartbeat" signal is a comprehensive status characterization signal after the flight control computer logically combines the 4 discrete "heartbeat" signals.

9. The airship control handover method based on heartbeat signal detection according to claim 5, characterized in that, The The detection conditions for discrete and combined "heartbeat" signals include: if the period of the discrete "heartbeat" signal exceeds the normal range (default time ±20%), or if the combined "heartbeat" signal is inconsistent and exceeds the allowable error range, then the main flight control board is determined to be abnormal.

10. The airship control handover method based on heartbeat signal detection according to claim 5, characterized in that, In step S2, the anomaly detection and fault prediction count calculation of the discrete "heartbeat" signal specifically includes the following steps: SS1. Calculate the task interval error time: For the discrete "heartbeat" signals of four key tasks, namely navigation and attitude calculation, airship attitude control, airship altitude control and airship trajectory control, obtain the actual task interval time Tap (i.e. the time interval between two adjacent signals) and compare it with the standard task interval time Tdp = 10000us (corresponding to a signal period of 100Hz) to calculate the adjacent task error time DTi (i = 1, 2, 3, 4 correspond to the four types of tasks respectively). The formula is: DTi = Tap, i - Tdp and take its absolute value |DTi|; SS2. Update Single-Task Fault Count Value: Based on the value of |DTi|, increase or decrease the fault count value EKi (i = 1, 2, 3, 4 correspond to the predicted fault count values ​​of the four types of tasks, respectively). The specific rules are as follows: SS3. Calculate the comprehensive fault prediction count: Based on the airship flight mission requirements, set fault judgment weighting coefficients Km1, Km2, Km3, and Km4 for four mission types (satisfying Km1+Km2+Km3+Km4≠0). Calculate the final fault prediction count EKall through weighted average, using the following formula: SS4. Anomaly Detection: When EKall exceeds the preset fault detection threshold, the main flight control board is determined to be malfunctioning, triggering a switch of control.

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