A dual-redundancy steering engine control method, system and steering engine controller

Abstract

This invention relates to the field of control system technology, and proposes a dual-redundant servo control method, system, and servo controller. The method includes: acquiring flight records of an aircraft and extracting parameter values ​​and corresponding temperatures for several parameter types at consecutive times; obtaining a temperature-based parameter mapping table for each parameter type; obtaining the unit aging variable coefficient for each parameter type; obtaining the theoretical aging degree of each parameter type at each time point; obtaining the device aging degree of each parameter type during each flight process; obtaining the information difference factor and judgment difference factor of the primary and backup MCUs; performing consistency verification of the primary and backup MCUs, and constructing decision rules based on evidence theory to obtain decision judgment results; and switching between the primary and backup MCUs based on the decision judgment results. This invention aims to solve the problem of untimely drive response during the switching of dual-redundant servo control signals.

Description

Technical Field

[0001] This invention relates to the field of control system technology, specifically to a dual-redundant servo control method, system, and servo controller. Background Technology

[0002] As a crucial component of aircraft, the performance of servo motors directly impacts flight safety and flight characteristics. To enhance aircraft safety, servo motors must be designed with redundancy, the most common being dual-redundancy. Dual-redundancy designs are generally divided into actuator dual-redundancy designs and servo controller dual-redundancy designs. Conventional dual-redundancy servo controller designs employ two completely independent control circuits, with only one circuit providing command control and drive response to the servo motor at any given time. Furthermore, they lack monitoring of the main control chip's status. This design not only increases system cost and complexity but also carries the risk of the drive circuit not receiving servo control commands during redundancy switching. Summary of the Invention

[0003] This invention provides a dual-redundant servo control method, system, and servo controller to solve the problem of untimely drive response during control signal switching in existing dual-redundant servo systems. The specific technical solution adopted is as follows: This invention proposes a dual-redundant servo control method, which includes the following steps: Acquire the flight records of the aircraft and extract the parameter values ​​and corresponding temperatures of several parameter types at consecutive times. Obtain a temperature-based parameter mapping table for each parameter type. Based on the changes in parameter values ​​of each parameter type over time, the unit aging variable coefficient for each parameter type is obtained; the parameter values ​​of each parameter type at each moment in the flight record are analyzed, and combined with the unit aging variable coefficient, the theoretical aging degree of each parameter type at each moment is obtained; based on the parameter values ​​and corresponding temperatures in the flight record, a flight temperature-parameter change curve is constructed, and a theoretical temperature-parameter change curve is constructed according to the parameter mapping table; the difference in parameter values ​​at the same temperature in the two curves is analyzed, and combined with the theoretical aging degree, the relationship value of each parameter type in each flight process is obtained, thereby obtaining the device aging degree of each parameter type in each flight process; The differences in measured parameter values ​​of the primary and backup MCUs across various parameter types are analyzed, and the aging degree of each parameter type is considered to obtain the information difference factor between the primary and backup MCUs. Based on the differences in judgment results of the primary and backup MCUs across various parameter types, the judgment difference factor between the primary and backup MCUs is obtained. The consistency of the primary and backup MCUs is verified based on the information difference factor and the judgment difference factor, and a decision rule is constructed using evidence theory to obtain the decision judgment result. The primary and backup MCUs are switched based on the decision-making results.

[0004] Optionally, the unit aging variable coefficients for each parameter type are obtained using the following method: The device is continuously tested for a unit aging time, and test parameter values ​​of several parameter types are obtained according to the preset sampling interval. For any parameter type, perform linear fitting on the test parameter values ​​within a unit aging time, and use the slope of the fitted line as the coefficient of the unit aging variable for that parameter type.

[0005] Optionally, the specific method for obtaining the theoretical aging degree of each parameter type at each time step includes: For any parameter type in the flight record of any flight process, the first parameter value of that parameter type in that flight process is obtained as its initial reference value; for any moment, the sum of the product of that moment and the unit aging variable coefficient of that parameter type, plus the initial reference value of that parameter type, is used as the theoretical parameter value at that moment. The difference between the parameter value of that parameter type at that moment and its theoretical parameter value in the flight record is taken as the theoretical aging degree of that parameter type at that moment.

[0006] Optionally, the specific methods for constructing the flight temperature-parameter variation curve based on the parameter values ​​and corresponding temperatures in the flight record, and constructing the theoretical temperature-parameter variation curve based on the parameter mapping table, include: For any parameter type in the flight record of any flight process, the temperature corresponding to the parameter value at each moment of that parameter type is arranged in chronological order and used as the horizontal axis. The order of the horizontal axis is the time order. The parameter value is used as the vertical axis. The order of the vertical axis is the parameter value from smallest to largest. The parameter value and its corresponding temperature at each moment of that parameter type are mapped to the coordinate system and connected to obtain the flight temperature-parameter change curve of that parameter type in that flight process. Obtain the parameter values ​​corresponding to each time-series temperature in the parameter mapping table of this parameter type in the flight record, and use them as the theoretical parameter values ​​of each time-series temperature in the flight record. Map each time-series temperature in the flight record and its theoretical parameter values ​​to a coordinate system, and connect them to obtain the theoretical temperature-parameter change curve of this parameter type during the flight process.

[0007] Optionally, the specific method for obtaining the relationship values ​​of each parameter type in each flight process is as follows: For any parameter type in the flight record of any flight process, the parameter values ​​in the flight temperature-parameter change curve and the theoretical temperature-parameter change curve of that parameter type are recorded as flight parameter values. For any theoretical parameter value and flight parameter value with the same horizontal axis, obtain the absolute value of the difference between the flight parameter value and the theoretical parameter value. If the obtained absolute value of the difference is less than or equal to the theoretical aging degree at the time corresponding to the horizontal axis, update the flight parameter value to the corresponding theoretical parameter value. If the absolute value of the difference obtained is greater than the corresponding theoretical aging degree, the flight parameter value is updated to the sum of the theoretical parameter value and the theoretical aging degree, or the difference between the theoretical parameter value and the theoretical aging degree. If the flight parameter value is greater than the corresponding theoretical parameter value, it is updated to the corresponding sum; if it is less than the theoretical aging degree, it is updated to the corresponding difference. After updating all flight parameter values, the updated flight temperature-parameter change curve is used as the corrected temperature-parameter change curve for this parameter type during the flight process; the Pearson correlation coefficient between the corrected temperature-parameter change curve and the theoretical temperature-parameter change curve is used as the relationship value for this parameter type during the flight process.

[0008] Optionally, the specific methods for obtaining the device aging degree of each parameter type during each flight process include: For any parameter type in the flight record of any flight process, obtain the average relational value of that parameter type in all previous flight processes, and subtract the average relational value from the relational value of that parameter type in the current flight process as the device aging degree of that parameter type in the current flight process.

[0009] Optionally, the specific method for obtaining the information difference factor between the primary and backup MCUs includes: For any parameter type in the flight record of any flight process, obtain the device aging degree of that parameter type in the main channel and the backup channel respectively, and calculate the absolute value of the difference as the main and backup device difference of that parameter type; For the parameter values ​​of this parameter type received by the primary and backup MCUs at any given time, calculate the absolute value of the difference between the two parameter values, and use it as the primary and backup parameter difference at that time. The ratio of the sum of the differences between the primary and backup parameters and the differences between the primary and backup devices to the average of the two parameter values ​​of the primary and backup MCUs is used as the information difference factor of the primary and backup MCUs at that moment.

[0010] Optionally, the specific method for obtaining the judgment difference factor between the primary and backup MCUs includes: For any parameter type in the flight record of any flight process, after the primary and backup MCUs receive the parameter values ​​of that parameter type at any time, they obtain the judgment results of the primary and backup MCUs for that parameter type at that time, where a judgment result of 0 indicates normal and 1 indicates abnormal. Obtain the absolute value of the difference between the two judgment results, and take the average of the absolute values ​​of the differences between the two judgment results corresponding to all parameter types of the primary and backup MCUs at that moment as the judgment difference factor of the primary and backup MCUs at that moment.

[0011] This invention also proposes a dual-redundant servo control system, which includes: The flight record acquisition module is used to acquire the flight records of the aircraft and extract the parameter values ​​and corresponding temperatures of several parameter types at continuous times, and to obtain a temperature-based parameter mapping table for each parameter type. The primary and backup parameter analysis module is used to obtain the unit aging variable coefficient of each parameter type based on the change of parameter values ​​over time; analyze the parameter values ​​of each parameter type at each moment in the flight record, and combine them with the unit aging variable coefficient to obtain the theoretical aging degree of each parameter type at each moment; construct the flight temperature-parameter change curve based on the parameter values ​​and corresponding temperatures in the flight record, and construct the theoretical temperature-parameter change curve according to the parameter mapping table; analyze the difference in parameter values ​​at the same temperature in the two curves, and combine them with the theoretical aging degree to obtain the relationship value of each parameter type in each flight process, and then obtain the device aging degree of each parameter type in each flight process; The differences in measured parameter values ​​of the primary and backup MCUs across various parameter types are analyzed, and the aging degree of each parameter type is considered to obtain the information difference factor between the primary and backup MCUs. Based on the differences in judgment results of the primary and backup MCUs across various parameter types, the judgment difference factor between the primary and backup MCUs is obtained. The consistency of the primary and backup MCUs is verified based on the information difference factor and the judgment difference factor, and a decision rule is constructed using evidence theory to obtain the decision judgment result. The primary / backup channel switching module is used to switch between primary and backup MCUs based on decision-making results.

[0012] The present invention also proposes a dual-redundant servo controller, including a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor executes the computer program to implement the steps of the above method.

[0013] The beneficial effects of this invention are as follows: This invention adds an FPGA logic processing module to monitor and control the working status of the main and backup control boards and the main and backup drive boards respectively, solving the problems of discontinuous redundancy switching and untimely response of the drive part in conventional dual-redundant servo controllers, thus improving control accuracy and system stability; monitoring the status of the digital signal processing chip of the main and backup controllers improves system reliability; specifically, by analyzing the parameter values ​​of various parameter types recorded during flight and the theoretical parameter values ​​in the constructed parameter mapping table at the same temperature, while considering the aging effect per unit time caused by device aging, the actual device aging degree during aircraft flight is obtained, and this is used to analyze the differences between the information received by the main and backup MCUs and the judgment results, further realizing consistency verification and obtaining decision results for switching between the main and backup MCUs. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a schematic flowchart of a dual-redundant servo control method provided in one embodiment of the present invention; Figure 2 A block diagram of a dual-redundant servo control system provided in another embodiment of the present invention; Figure 3 The present invention provides a schematic diagram of a dual-redundant servo controller according to another embodiment. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] Please see Figure 1 The diagram illustrates a flowchart of a dual-redundant servo control method according to an embodiment of the present invention, which includes the following steps: Step S001: Obtain the flight record of the aircraft and extract the parameter values ​​and corresponding temperatures of several parameter types at consecutive times, and obtain a temperature-based parameter mapping table for each parameter type.

[0018] It should be noted that the dual-redundant servo controller includes two essentially identical single-redundant controllers and three FPGA logic processing modules. The primary and backup controllers analyze the collected control current and voltage signals to determine whether they have the ability to work normally, and then feed the results back to FPGA_1 for further judgment. FPGA_1 then issues control signals to determine whether to use the primary controller or the backup control board to control the servo. During this period, the primary and backup control boards continuously output control signals to the drive section, solving the problem that the drive section cannot respond in time during redundancy switching.

[0019] Furthermore, the main and backup control boards analyze the collected power current, voltage, and temperature signals to determine the working status of the main and backup drive boards, and feed back the working status of the main drive to FPGA_2 and the working status of the backup drive to FPGA_3. Whether the three main drives are working is determined by the control signals generated by FPGA_2, and similarly, whether the backup drive is working is determined by the control signals generated by FPGA_3. When all six drive boards are in normal working condition, the main and backup drive boards of the same servo are each responsible for 50% of the workload. When one drive fails, the other drive takes on 100% of the workload.

[0020] Meanwhile, for the operating status determined by the main and backup controllers through the collected signals, interaction between the main and backup controllers is required to avoid distorted data output by the sensors of a single controller during detection, which may be due to aging, interference, or failure. In aviation scenarios, operating conditions such as voltage and load change globally and synchronously (e.g., current increases collectively during takeoff), and the single board cannot distinguish between "its own fault" and "global operating condition". Two-way interaction verifies parameter consistency (e.g., the difference between main and backup current is <5%) to confirm whether it is a global change and avoid false alarms triggered by operating condition fluctuations.

[0021] It should be further explained that the primary and backup MCUs analyze the voltage, current, temperature, and position information of the control board and driver board to determine whether the primary and backup control boards are capable of normal operation. The processed signals are then sent to FPGA_1 for logic analysis, and the control signals of the primary and backup control boards are output. FPGA_2 and FPGA_3 analyze the working status of the primary and backup driver boards to achieve dual-redundancy control of the driver boards. Based on the collected working status data of the primary and backup control boards, it is determined whether interaction between the primary and backup controllers is required. In order to avoid the single controller detection process, information exchange between the primary and backup control boards is required to comprehensively determine the working status of the primary and backup control boards.

[0022] It should be further noted that during aircraft flight, temperature changes significantly with altitude, which affects the battery performance of the primary and backup control boards, thus influencing voltage levels. Setting a fixed threshold can lead to misjudgments. For example, at high altitudes of -40°C, the primary control board voltage drops to 4.65V due to battery performance degradation, and the traditional fixed threshold of 4.7V is mistakenly interpreted as a fault. At low altitudes of 60°C, the voltage is 5.35V, which is then mistakenly interpreted as overvoltage. Additionally, the current changes when the aircraft is performing a mission (such as a drone carrying a payload). Therefore, when determining the operating conditions of the primary and backup control boards, it is necessary to construct a parameter mapping table for different temperatures.

[0023] Specifically, during the flight of the aircraft, multi-parameter values ​​are collected in real time based on the flight record, along with the temperature corresponding to several parameters. The collection time interval is set to once every 10 seconds. The parameter types include the current and operating voltage of core components such as the MCU, lithium battery, and driver chip. These parameters are directly extracted from the flight record, and will not be specifically listed or described in this embodiment.

[0024] Furthermore, the generation of the parameter mapping table requires reference to static data, that is, based on the rated parameters of each device, combined with the aerospace "derating design" principle (leaving a 20% safety margin): The "rated operating range" is extracted from the aerospace-grade manuals of core components such as the MCU, lithium battery, and driver chip, such as the MCU's rated operating temperature of -40℃ to 85℃, the lithium battery's rated output voltage of 4.5V to 5.5V, and the operating temperature reference value; an aerospace-grade programmable high and low temperature test chamber is selected for temperature control, specifically an aerospace-grade programmable high and low temperature test chamber (temperature range: -60℃ to 150℃ (covering extreme environment redundancy), control accuracy: ±0.5℃, heating / cooling rate: 0.5-5℃ / min, temperature field uniformity: ≤±1℃); the temperature cycling process is: -40℃ (holding for 1 hour) → 5℃ / min Heating to 85℃ (holding for 1 hour) → cooling down to -40℃ at 5℃ / min; the data sampling interval is also once every 10 seconds. Based on the parameter values ​​obtained from the experiment and their corresponding temperatures, a parameter mapping table is constructed. Several experimental parameter values ​​of the same parameter type correspond to one temperature. The temperatures are arranged in the order of their appearance and the corresponding parameter values ​​are filled in the mapping table to obtain the parameter mapping table for each parameter type.

[0025] It should be noted that in step S002 of this embodiment, the corresponding parameter types and their values ​​are analyzed using either channel driver in the main or backup MCU, while in step S003, the dual-channel drivers of the main and backup MCUs are introduced for analysis.

[0026] Step S002: Based on the changes in parameter values ​​of each parameter type over time, obtain the unit aging variable coefficient for each parameter type; analyze the parameter values ​​of each parameter type at each moment in the flight record, and combine them with the unit aging variable coefficient to obtain the theoretical aging degree of each parameter type at each moment; construct a flight temperature-parameter change curve based on the parameter values ​​and corresponding temperatures in the flight record, and construct a theoretical temperature-parameter change curve based on the parameter mapping table; analyze the difference in parameter values ​​at the same temperature in the two curves, and combine them with the theoretical aging degree to obtain the relationship value of each parameter type in each flight process, thereby obtaining the device aging degree of each parameter type in each flight process.

[0027] It should be noted that as aircraft are used, their internal components are constantly aging. Therefore, adjustments need to be made to the parameter mapping table to include some theoretical aging fluctuations.

[0028] Preferably, in one embodiment of the present invention, the method for obtaining the unit aging variable coefficient of each parameter type based on the change of parameter values ​​over time includes: The unit aging time is preset. In this embodiment, the unit aging time is described as 1000h. It is combined with the life characteristics of aerospace materials and set as a parameter value with a unit variable that changes over 1000h. For example, the unit variable of MCU current aging is 0.05A / 1000h, that is, after 1000h of continuous use, the current will undergo aging drift and the change amount is 0.05A. The device is subjected to continuous operation test for the unit aging time. Test parameter values ​​of several parameter types are obtained according to the preset sampling interval. The preset sampling interval is set to collect test parameter values ​​once every 10h. Linear fitting is performed on the test parameter values ​​within the unit aging time of any parameter type, and the slope of the obtained fitted line is used as the unit aging variable coefficient of that parameter type.

[0029] Preferably, in one embodiment of the present invention, the theoretical aging degree of each parameter type at each time point is obtained by analyzing the parameter values ​​of each parameter type in the flight record and combining them with the unit aging variable coefficient. The specific method includes: For any parameter type in the flight record of any flight process, obtain the first parameter value of that parameter type in that flight process as its initial reference value; for any moment, multiply the product of that moment and the unit aging variable coefficient of that parameter type, and add the initial reference value of that parameter type to obtain the sum, as the theoretical parameter value at that moment; subtract the theoretical parameter value from the parameter value of that parameter type at that moment in the flight record, and obtain the difference as the theoretical aging degree of that parameter type at that moment.

[0030] It should be noted that the unit aging variable coefficient is the cumulative aging of the device over time and is independent of the temperature.

[0031] Preferably, in one embodiment of the present invention, a flight temperature-parameter variation curve is constructed based on the parameter values ​​and corresponding temperatures in the flight record, and a theoretical temperature-parameter variation curve is constructed based on the parameter mapping table. The specific method includes: For any parameter type in the flight record of any flight process, the temperature corresponding to the parameter value at each moment of that parameter type is arranged in chronological order and used as the horizontal axis. The order of the horizontal axis is the time order, and the parameter value is used as the vertical axis. The order of the vertical axis is the parameter value from smallest to largest. The parameter value and its corresponding temperature at each moment of that parameter type are mapped to the coordinate system, and the connection is used to obtain the flight temperature-parameter change curve of that parameter type in that flight process.

[0032] Furthermore, the parameter values ​​corresponding to each time-series temperature in the flight record in the parameter mapping table of this parameter type are obtained as the theoretical parameter values ​​of each time-series temperature in the flight record. The time-series temperatures in the flight record and their theoretical parameter values ​​are mapped to a coordinate system, and the connection is used to obtain the theoretical temperature-parameter change curve of this parameter type during the flight process.

[0033] It should be further explained that the relationship between the two curves will continue to change over time. Part of this change is due to the contribution of the theoretical aging degree, while the other part cannot be obtained through fitting the relationship. Therefore, the information that cannot be obtained is used as a representation of the aging degree. In the correlation analysis of the two regions, the theoretical aging degree is used as the tolerance, and the upper and lower tolerances are calculated based on the theoretical temperature-parameter change curve. The flight temperature-parameter change curve is then further corrected to minimize the difference between the two curves. The parameter values ​​in the flight record are placed under the maximum allowable tolerance for correlation analysis.

[0034] Preferably, in one embodiment of the present invention, the method of analyzing the difference in parameter values ​​at the same temperature in the two curves, and combining the theoretical aging degree to obtain the relationship values ​​of each parameter type in each flight process, thereby obtaining the device aging degree of each parameter type in each flight process, includes the following specific methods: For any parameter type in the flight record of any flight process, the parameter values ​​in the flight temperature-parameter change curve and the theoretical temperature-parameter change curve of that parameter type are recorded as flight parameter values. For any theoretical parameter value and flight parameter value with the same horizontal axis, the absolute value of the difference between the flight parameter value and the theoretical parameter value is obtained. If the absolute value of the difference is less than or equal to the theoretical aging degree at the time corresponding to the horizontal axis, the flight parameter value is updated to the corresponding theoretical parameter value. If the absolute value of the difference is greater than the corresponding theoretical aging degree, the flight parameter value is updated to the sum of the theoretical parameter value and the theoretical aging degree, or the difference between the theoretical parameter value and the theoretical aging degree. Wherein, if the flight parameter value is greater than the corresponding theoretical parameter value, it is updated to the corresponding sum; if it is less, it is updated to the corresponding difference. After all flight parameter values ​​have been updated, the updated flight temperature-parameter change curve is used as the corrected temperature-parameter change curve for that parameter type in the flight process. The Pearson correlation coefficient between the corrected temperature-parameter change curve and the theoretical temperature-parameter change curve is used as the relationship value for that parameter type in the flight process.

[0035] Furthermore, for any parameter type in the flight record of any flight process, the average relational value of that parameter type in all previous flight processes is obtained, and the difference between the relational value of that parameter type in the flight process and the average relational value is used as the device aging degree of that parameter type in the flight process.

[0036] Thus, the aging degree of devices for each parameter type during each flight process is obtained.

[0037] Step S003: Analyze the differences in measured parameter values ​​of the primary and backup MCUs for each parameter type, and combine the aging degree of each parameter type to obtain the information difference factor of the primary and backup MCUs; based on the differences in the judgment results of the primary and backup MCUs for each parameter type, obtain the judgment difference factor of the primary and backup MCUs; perform consistency verification of the primary and backup MCUs based on the information difference factor and the judgment difference factor, and construct decision rules in combination with evidence theory to obtain the decision judgment result.

[0038] It should be noted that after FPGA_1 receives data from the main and backup MCUs, it needs to calculate the differences between the two; the differences are divided into two types: parameter differences and judgment result differences.

[0039] Preferably, in one embodiment of the present invention, the differences in measured parameter values ​​of the primary and backup MCUs for each parameter type are analyzed, and the information difference factor of the primary and backup MCUs is obtained by combining the aging degree of each parameter type. The specific method includes: For any parameter type in the flight record of any flight process, obtain the device aging degree of that parameter type in the main channel and the backup channel respectively, and calculate the absolute value of the difference as the main and backup device difference of that parameter type; for the parameter values ​​of that parameter type received by the main and backup MCUs at any time, calculate the absolute value of the difference between the two parameter values ​​as the main and backup parameter difference at that time; the ratio obtained by dividing the sum of the main and backup parameter difference and the main and backup device difference by the mean of the two parameter values ​​of the main and backup MCUs is used as the information difference factor of the main and backup MCUs at that time.

[0040] Preferably, in one embodiment of the present invention, the judgment difference factor of the primary and backup MCUs is obtained based on the difference in judgment results of the primary and backup MCUs for each parameter type, and the specific method includes: For any parameter type in the flight record of any flight process, after the primary and backup MCUs receive the parameter values ​​of that parameter type at any time, they obtain the judgment results of the primary and backup MCUs for that parameter type at that time, where a judgment result of 0 indicates normal and 1 indicates abnormal. The absolute value of the difference between the two judgment results is obtained, and the mean of the absolute values ​​of the differences between the two judgment results for all parameter types of the primary and backup MCUs at that time is taken as the judgment difference factor of the primary and backup MCUs at that time.

[0041] Preferably, in one embodiment of the present invention, the consistency verification of the primary and backup MCUs is performed based on the information difference factor and the judgment difference factor, and a decision rule is constructed in conjunction with evidence theory to obtain the decision judgment result. The specific method includes: For any parameter type in the flight record of any flight process, after the primary and backup MCUs receive the respective parameter values ​​of that parameter type at any given time, the information difference factor between the primary and backup MCUs at that time is marked as D1, the judgment difference factor is marked as D2, and the following consistency check is performed. Finally, the decision rule is constructed to obtain the decision judgment result, as follows: 1) When and When the consistency check results of the primary and backup MCUs are completely consistent, it is considered a "global operating condition change". The primary and backup conclusions are merged into a "consensus conclusion" and directly submitted to the FPGA for switching between the primary and backup MCUs. No secondary processing is required, which improves the judgment efficiency. 2) When and If the consistency check results from the primary and backup MCUs are completely inconsistent and significantly different, it is predicted that "device aging and sensor distortion" will occur. The abnormal time and abnormal data values ​​are recorded, triggering the motherboard's self-diagnosis (such as re-acquiring sensor data). The conclusions of both the primary and backup MCUs are retained, and a "Difference Analysis Report" is attached (with annotations). For components with abnormal orientation or low fit, submit to FPGA; 3) When and When the consistency check results of the primary and backup MCUs are partially consistent, "parameter-weighted fusion" (with each set of primary and backup data having a 50% weight) is initiated to generate a "fusion conclusion" to balance the differences between the primary and backup and avoid unnecessary switching. Parameter-weighted fusion uses existing evidence theory (DS theory) to provide the judgment result. The specific process is as follows: a) Input data: The four types of core parameters received by the primary and backup MCUs at the current moment (control voltage U, current I, MCU temperature T, position deviation). The measured values ​​of the device, D1 (information difference factor), D2 (judgment difference factor), and the degree of device aging; b) Fixed parameter: Result category (Normal) ,Fault ,aging and unknown ), and initial weights (in , , , ); c) Setting BPA allocation rules: Using a professional, manual approach, parameter conditions are set for different result categories. This example is as follows: normal Device aging degree and The BPA allocation logic is as follows: ; Fault : And with two consecutive exceptions, the BPA allocation logic is as follows: ; aging Device aging degree Furthermore, the increase in the degree of device aging at adjacent time points (the difference between the degree of device aging at the current time point and the degree of device aging at the previous time point). The BPA allocation logic is as follows: ; unknown If none of the above conditions are met, the BPA allocation logic is as follows: ; d) The formula for synthesizing DS evidence is as follows: in, To determine the result, The conflict coefficient, The larger the value, the more serious the conflict of evidence; this formula is an existing technology for DS evidence synthesis, and will not be described in detail in this embodiment.

[0042] e) Decision-making rules (based on) (Value size): i. If any state exists If the confidence level of this state is 0.2 or higher than that of other states, then it is determined to be this state; ii. If the highest confidence level If the result is determined to be "unknown", a second data collection will be triggered (interval of 0.5ms, the maximum allowable delay in aviation). iii. If aging state And the degree of device aging : Prioritize "aging" and do not trigger switching (warning only); iv. If the fault condition It is immediately identified as a "fault" and redundancy switching is triggered.

[0043] Step S004: Switch between primary and backup MCUs based on the decision-making results.

[0044] 1) Specifically, if identified as "normal", channel switching is triggered; 2) If identified as a "fault": a) If the motherboard fails: immediately disconnect the main drive channel, activate the backup channel, and report the flight controller "motherboard failure + fault parameters"; b) If the backup board fails: the main channel continues to work, the backup channel is disabled, and the flight controller is reported "backup board failure + fault parameters"; c) If both boards fail: trigger emergency protection, shut down dual drive channels, and report "dual board failure" to the flight controller.

[0045] 3) If identified as "aging": output "aging warning" without triggering channel switching; 4) If identified as “unknown”: record the abnormal time and abnormal data value, and trigger the motherboard self-diagnosis.

[0046] This concludes the embodiment.

[0047] Please see Figure 2 This illustrates a dual-redundant servo control system provided by another embodiment of the present invention, the system comprising: Flight record acquisition module 101: Acquires the flight record of the aircraft and extracts the parameter values ​​and corresponding temperatures of several parameter types at consecutive times, and obtains a temperature-based parameter mapping table for each parameter type; Primary and backup parameter analysis module 102: Based on the change of parameter values ​​of each parameter type over time, obtain the unit aging variable coefficient of each parameter type; analyze the parameter values ​​of each parameter type at each moment in the flight record, and combine them with the unit aging variable coefficient to obtain the theoretical aging degree of each parameter type at each moment; construct the flight temperature-parameter change curve based on the parameter values ​​and corresponding temperatures in the flight record, and construct the theoretical temperature-parameter change curve according to the parameter mapping table; analyze the difference in parameter values ​​at the same temperature in the two curves, and combine them with the theoretical aging degree to obtain the relationship value of each parameter type in each flight process, and then obtain the device aging degree of each parameter type in each flight process; The differences in measured parameter values ​​of the primary and backup MCUs across various parameter types are analyzed, and the aging degree of each parameter type is considered to obtain the information difference factor between the primary and backup MCUs. Based on the differences in judgment results of the primary and backup MCUs across various parameter types, the judgment difference factor between the primary and backup MCUs is obtained. The consistency of the primary and backup MCUs is verified based on the information difference factor and the judgment difference factor, and a decision rule is constructed using evidence theory to obtain the decision judgment result. Primary / backup channel switching module 103: performs primary / backup MCU switching based on decision-making results.

[0048] Another embodiment of the present invention provides a dual-redundant servo controller, which includes a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, it implements the above-described method steps S001 to S004, and the overall operation process is as follows: Figure 3 As shown, the details are as follows: Each servo is an electrically dual-redundant servo, consisting of a primary channel and a backup channel, both connected to the primary and backup control channels of the same servo controller. The primary and backup channels of the servo controller exchange data and status via an RS-422 bus. The dual redundancy of the control board and the driver board is implemented using three FPGAs. The primary and backup MCUs analyze the collected voltage, current, temperature, and position information of the control board and driver board to determine whether the primary and backup control boards are capable of normal operation. They then send the processed signals to FPGA_1 for logic analysis and output the control signals for the primary and backup control boards. FPGA_2 and FPGA_3 analyze the working status of the primary and backup driver boards to achieve dual-redundant control of the driver boards.

[0049] The flight controller sends servo control commands to both the left and right servo controllers simultaneously. The flight controller can change the working mode of the primary and backup channels by sending command frames to the servo controllers: dual channels in parallel, primary channel working, backup channel working, or neither working. When the flight controller detects an abnormal operation of a servo in a certain channel, it sends a command to shut down that channel.

[0050] When the main channel of the servo controller determines that the communication between the main channel and the flight controller is abnormal, it outputs "Main judgment main effective = 0" and shuts down the power supply relay of the main channel driver. At this time, the relay of the backup channel driver is still in the on state, and the backup channel controls the servo and reports the main communication abnormality. When the backup channel of the servo controller determines that the communication between the backup channel and the flight controller is abnormal, it outputs "Backup judgment backup effective = 0" and shuts down the power supply relay of the backup channel driver. At this time, the relay of the main channel driver is still in the on state, and the main channel controls the servo and reports the backup communication abnormality.

[0051] The main control channel sends data to the backup channel every 10ms. The backup channel receives the data and immediately responds. If the main channel does not receive any feedback within 4 consecutive clock cycles, the backup channel is considered abnormal, and the main channel reports "backup channel abnormal" to the flight controller. If the backup channel does not receive any data within 4 consecutive clock cycles, the main channel is considered abnormal, and the backup channel reports "main channel abnormal" to the flight controller. At this time, the flight controller selects which channel to continue operating. In the case of a dual-channel communication failure, the main channel is selected to continue operating by default, and the backup channel driver is powered off.

[0052] The main and backup channels of the servo controller determine their own and each other's health status based on their own condition and the communication status between the channels, and output the judgment result to the "dual redundancy relay switching controller". The "switching controller" is a simple FPGA or CPLD, which is only used to determine the switching of relays. Both the main and backup channels have watchdog timers, and the watchdog timers will reset the system in case of a crash.

[0053] After both the primary and backup channels output state switching signals, the "dual-redundant relay switching controller" selects which channel should be powered on and driven by the dual-redundant relay based on its internal truth table. The selection result of the dual-redundant relay should be fed back to both the primary and backup controllers.

[0054] The control strategy implemented using three FPGAs—FPGA_1 controlling the main and backup control boards, FPGA_2 controlling the three main drive boards, and FPGA_3 controlling the three backup drive boards—avoids situations where a single device failure affects the overall operation. Signal feedback is achieved through a full-duplex 422 bus and a CAN bus.

[0055] The control strategy implemented using three FPGAs—FPGA_1 controlling the main and backup control boards, FPGA_2 controlling the three main drive boards, and FPGA_3 controlling the three backup drive boards—avoids situations where a single device failure affects the overall operation. Feedback of control current and voltage, power current and voltage, temperature signals, position signals, and overcurrent signals collected by the signal feedback circuit is provided via a full-duplex 422 bus and a CAN bus. The main and backup drive control circuits share their status and verify each other through dual-machine communication via 422, and can detect and automatically switch over when a redundancy failure occurs.

[0056] This concludes the embodiment.

[0057] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A dual-redundant servo motor control method, characterized in that, The method includes the following steps: Acquire the flight records of the aircraft and extract the parameter values ​​and corresponding temperatures of several parameter types at consecutive times. Obtain a temperature-based parameter mapping table for each parameter type. Based on the changes in parameter values ​​of each parameter type over time, the unit aging variable coefficient for each parameter type is obtained; the parameter values ​​of each parameter type at each moment in the flight record are analyzed, and combined with the unit aging variable coefficient, the theoretical aging degree of each parameter type at each moment is obtained; based on the parameter values ​​and corresponding temperatures in the flight record, a flight temperature-parameter change curve is constructed, and a theoretical temperature-parameter change curve is constructed according to the parameter mapping table; the difference in parameter values ​​at the same temperature in the two curves is analyzed, and combined with the theoretical aging degree, the relationship value of each parameter type in each flight process is obtained, thereby obtaining the device aging degree of each parameter type in each flight process; The differences in measured parameter values ​​of the primary and backup MCUs across various parameter types are analyzed, and the aging degree of each parameter type is considered to obtain the information difference factor between the primary and backup MCUs. Based on the differences in judgment results of the primary and backup MCUs across various parameter types, the judgment difference factor between the primary and backup MCUs is obtained. The consistency of the primary and backup MCUs is verified based on the information difference factor and the judgment difference factor, and a decision rule is constructed using evidence theory to obtain the decision judgment result. The primary and backup MCUs are switched based on the decision-making results.

2. The dual-redundant servo control method according to claim 1, characterized in that, The specific method for obtaining the unit aging variable coefficients for each parameter type is as follows: The device is continuously tested for a unit aging time, and test parameter values ​​of several parameter types are obtained according to the preset sampling interval. For any parameter type, perform linear fitting on the test parameter values ​​within a unit aging time, and use the slope of the fitted line as the coefficient of the unit aging variable for that parameter type.

3. The dual-redundant servo control method according to claim 1, characterized in that, The specific methods for obtaining the theoretical aging degree of each parameter type at each time point include: For any parameter type in the flight record of any flight process, the first parameter value of that parameter type in that flight process is obtained as its initial reference value; for any moment, the sum of the product of that moment and the unit aging variable coefficient of that parameter type, plus the initial reference value of that parameter type, is used as the theoretical parameter value at that moment. The difference between the parameter value of that parameter type at that moment and its theoretical parameter value in the flight record is taken as the theoretical aging degree of that parameter type at that moment.

4. The dual-redundant servo control method according to claim 1, characterized in that, The specific methods for constructing flight temperature-parameter variation curves based on parameter values ​​and corresponding temperatures in flight records, and constructing theoretical temperature-parameter variation curves based on parameter mapping tables, include: For any parameter type in the flight record of any flight process, the temperature corresponding to the parameter value at each moment of that parameter type is arranged in chronological order and used as the horizontal axis. The order of the horizontal axis is the time order. The parameter value is used as the vertical axis. The order of the vertical axis is the parameter value from smallest to largest. The parameter value and its corresponding temperature at each moment of that parameter type are mapped to the coordinate system and connected to obtain the flight temperature-parameter change curve of that parameter type in that flight process. Obtain the parameter values ​​corresponding to each time-series temperature in the parameter mapping table of this parameter type in the flight record, and use them as the theoretical parameter values ​​of each time-series temperature in the flight record. Map each time-series temperature in the flight record and its theoretical parameter values ​​to a coordinate system, and connect them to obtain the theoretical temperature-parameter change curve of this parameter type during the flight process.

5. The dual-redundant servo control method according to claim 1, characterized in that, The specific method for obtaining the relationship values ​​of each parameter type in each flight process is as follows: For any parameter type in the flight record of any flight process, the parameter values ​​in the flight temperature-parameter change curve and the theoretical temperature-parameter change curve of that parameter type are recorded as flight parameter values. For any theoretical parameter value and flight parameter value with the same horizontal axis, obtain the absolute value of the difference between the flight parameter value and the theoretical parameter value. If the obtained absolute value of the difference is less than or equal to the theoretical aging degree at the time corresponding to the horizontal axis, update the flight parameter value to the corresponding theoretical parameter value. If the absolute value of the difference obtained is greater than the corresponding theoretical aging degree, the flight parameter value is updated to the sum of the theoretical parameter value and the theoretical aging degree, or the difference between the theoretical parameter value and the theoretical aging degree. If the flight parameter value is greater than the corresponding theoretical parameter value, it is updated to the corresponding sum; if it is less than the theoretical aging degree, it is updated to the corresponding difference. After updating all flight parameter values, the updated flight temperature-parameter change curve is used as the corrected temperature-parameter change curve for this parameter type during the flight process; the Pearson correlation coefficient between the corrected temperature-parameter change curve and the theoretical temperature-parameter change curve is used as the relationship value for this parameter type during the flight process.

6. The dual-redundant servo control method according to claim 5, characterized in that, The specific methods for obtaining the device aging degree of each parameter type during each flight process include: For any parameter type in the flight record of any flight process, obtain the average relational value of that parameter type in all previous flight processes, and subtract the average relational value from the relational value of that parameter type in the current flight process as the device aging degree of that parameter type in the current flight process.

7. The dual-redundant servo control method according to claim 1, characterized in that, The specific method for obtaining the information difference factor between the primary and backup MCUs is as follows: For any parameter type in the flight record of any flight process, obtain the device aging degree of that parameter type in the main channel and the backup channel respectively, and calculate the absolute value of the difference as the main and backup device difference of that parameter type; For each parameter value of this parameter type received by the primary and backup MCUs at any given time, calculate the absolute value of the difference between the two parameter values, and use it as the primary and backup parameter difference at that time. The ratio of the sum of the differences between the primary and backup parameters and the differences between the primary and backup devices to the average of the two parameter values ​​of the primary and backup MCUs is used as the information difference factor of the primary and backup MCUs at that moment.

8. The dual-redundant servo control method according to claim 1, characterized in that, The specific method for obtaining the judgment difference factor of the primary and backup MCUs is as follows: For any parameter type in the flight record of any flight process, after the primary and backup MCUs receive the parameter values ​​of that parameter type at any time, they obtain the judgment results of the primary and backup MCUs for that parameter type at that time, where a judgment result of 0 indicates normal and 1 indicates abnormal. Obtain the absolute value of the difference between the two judgment results, and take the average of the absolute values ​​of the differences between the two judgment results corresponding to all parameter types of the primary and backup MCUs at that moment as the judgment difference factor of the primary and backup MCUs at that moment.

9. A dual-redundant servo control system, characterized in that, The system includes: The flight record acquisition module is used to acquire the flight records of the aircraft and extract the parameter values ​​and corresponding temperatures of several parameter types at continuous times, and to obtain a temperature-based parameter mapping table for each parameter type. The primary and backup parameter analysis module is used to obtain the unit aging variable coefficient of each parameter type based on the change of parameter values ​​over time; analyze the parameter values ​​of each parameter type at each moment in the flight record, and combine them with the unit aging variable coefficient to obtain the theoretical aging degree of each parameter type at each moment; construct the flight temperature-parameter change curve based on the parameter values ​​and corresponding temperatures in the flight record, and construct the theoretical temperature-parameter change curve according to the parameter mapping table; analyze the difference in parameter values ​​at the same temperature in the two curves, and combine them with the theoretical aging degree to obtain the relationship value of each parameter type in each flight process, and then obtain the device aging degree of each parameter type in each flight process; The differences in measured parameter values ​​of the primary and backup MCUs across various parameter types are analyzed, and the aging degree of each parameter type is considered to obtain the information difference factor between the primary and backup MCUs. Based on the differences in judgment results of the primary and backup MCUs across various parameter types, the judgment difference factor between the primary and backup MCUs is obtained. The consistency of the primary and backup MCUs is verified based on the information difference factor and the judgment difference factor, and a decision rule is constructed using evidence theory to obtain the decision judgment result. The primary / backup channel switching module is used to switch between primary and backup MCUs based on decision-making results.

10. A dual-redundant servo controller, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the dual-redundant servo control method as described in any one of claims 1-8.

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