A method for achieving consistency of redundancy data voting results of a flight control system

Abstract

The present application relates to the technical field of redundancy management of flight control system, and a kind of redundancy data voting result consistency method of flight control system.Set system period T and consistency verification number N, wherein N is positive integer greater than or equal to 2;Through data cross transmission mode, data is transmitted between each channel at interval of time period T;The update period of the data of each channel is at least N times T time;After the data of this channel is updated and the data of other channels is received, data redundancy voting is carried out, and real-time voting result is generated;N consistency verification is carried out on real-time voting result;When real-time voting result is floating point number, whether floating point number is equal and consistent is judged using absolute tolerance method;If real-time voting result is consistent for N times in succession, redundancy voting value is updated;Otherwise, redundancy voting value remains unchanged.By introducing "N consistency verification", the present application significantly improves the problems such as timing sensitivity and transient fault diffusion commonly seen in traditional redundant system.

Description

Technical Field

[0001] This invention relates to the field of redundancy management technology for flight control systems, and to a method for achieving consistency in voting results of redundancy data in a flight control system. Background Technology

[0002] In aerospace redundant systems, multiple servo actuators simultaneously acquire and process sensor data, receive command data transmitted via the bus, and perform redundancy voting after cross-data transfer (CCDL). Traditional methods have two major drawbacks: 1. Timing Sensitivity: Information between servo channels cannot maintain strict time synchronization. For example, while this channel is using the latest instantaneous data (current frame data), the status of other channels received via CCDL may still be based on their previous transmission data (i.e., old data delayed by one "frame"). This time asynchrony may lead to distorted voting results, thus deviating from the actual value. One paper proposed a method that "uses small frame counting to determine whether data cross-transmission is successful, first checks the consistency of redundancy voting for all redundancies, and then gradually degrades the redundancy for redundancy voting consistency until redundancy voting is no longer possible." This method is too complex.

[0003] 2. Transient Fault Propagation: If one or more servo controllers experience transient data jumps due to sensor interference or other reasons, these abnormal readings may be misjudged as permanent problems, triggering redundant systems to switch to degraded mode to avoid the impact of bad data. This judgment is overly conservative and may lead to unnecessary emergency response, affecting flight safety. One paper proposed a "dual-redundancy synchronization based on historical statistical averages" method; however, this method performs poorly when dealing with mixed data that varies significantly across periods or instantaneously. Summary of the Invention

[0004] Purpose of the invention The purpose of this invention is to add an N-cycle consistency verification layer for real-time voting results (RealVoterValue) after the traditional voting process. The output voting value (VoterValue) is only updated when the real-time voting results are consistent for N consecutive cycles, thus eliminating the momentary inconsistency caused by timing inconsistencies.

[0005] Technical solution A method for achieving consensus on redundancy data voting results in a flight control system, applied to a dual-redundancy or triple-redundancy servo actuator controller, includes the following steps: Step S1: Set the system period T and the number of consistency verification cycles N, where N is a positive integer greater than or equal to 2; Step S2: Transmit data between channels at time intervals of T using cross-linked data transfer (CCDL); the update cycle of data in each channel is at least N times the time interval T. Step S3: After updating the data in this channel and receiving data from other channels, perform data redundancy voting and generate real-time voting results (RealVoterValue). Step S4: Perform N-cycle consistency verification on the real-time voting result (RealVoterValue); Step S5: When the real-time voting result (RealVoterValue) is a floating-point number, the absolute tolerance method is used to determine whether the floating-point numbers are equal and consistent; Step S6: If the real-time voting result (RealVoterValue) is consistent for N consecutive cycles, then update the remaining voting value (VoterValue); otherwise, keep the remaining voting value (VoterValue) unchanged.

[0006] Furthermore, the data redundancy voting in step S3 includes: Receive and update data and self-monitoring results for this channel; receive and update data and self-monitoring results for other channels via CCDL; monitor CCDL transmission status; perform redundancy voting based on data from all channels, self-monitoring results for the corresponding channels, and CCDL status.

[0007] Furthermore, the specific process of the redundancy voting is as follows: for data where the channel data self-monitoring is normal, the corresponding channel CCDL status is normal, and the numerical difference is within a preset range, a real-time voting result (RealVoterValue) is generated using the mean calculation method.

[0008] Furthermore, the N-shot consistency verification in step S4 specifically includes: setting up a first-in-first-out buffer of length N to store the real-time voting results of the most recent N shots; comparing the consistency of the N real-time voting results in the buffer; and determining that the consistency verification has passed when all N results are consistent.

[0009] Furthermore, the absolute tolerance method in step S5 is as follows: Let the two floating-point numbers be a and b, and give an absolute tolerance ε. When |ab| ≤ ε, the two floating-point numbers are determined to be equal and consistent.

[0010] Furthermore, the absolute tolerance ε ranges from 0.01% to 0.1% of the data limit range.

[0011] Furthermore, the value of the consistency verification number N is determined based on the actual update cycle of the channel data, specifically: N < actual update cycle of channel data / T.

[0012] Furthermore, the method also includes an exception handling step: When the real-time voting result (RealVoterValue) fails to pass the consistency verification for M consecutive cycles, a system alarm is triggered, where M>N; Record the occurrence time and duration of inconsistent events for subsequent system health status analysis.

[0013] Furthermore, a flight control system redundancy data voting device for implementing the method includes: The data acquisition module is used to acquire data from this channel and obtain data from other channels via CCDL; The data voting module is used to perform redundancy voting on the collected data and generate real-time voting results; The consistency verification module is used to perform N-cycle consistency verification on the real-time voting results; The output control module is used to update or maintain the redundancy voting value based on the verification results.

[0014] Furthermore, the consistency verification module includes: The data caching unit stores the real-time voting results of the most recent N cycles; the consistency judgment unit determines the consistency of data within the cache; and the tolerance calculation unit performs absolute tolerance comparisons of floating-point numbers.

[0015] Furthermore, a computer-readable storage medium having a computer program stored thereon, characterized in that the program, when executed by a processor, implements the method described thereon.

[0016] Technical effect By introducing "N-times consistency verification", this invention significantly improves two major problems commonly found in traditional redundant systems: timing sensitivity and transient fault propagation.

[0017] 1. Eliminate instantaneous inconsistencies caused by timing inconsistencies In traditional redundant voting mechanisms, if there is time asynchrony between different servo channels (for example, one channel uses data from the current cycle, while other channels received via CCDL still use data from the previous cycle), the real-time voting result will be distorted, deviating from the actual value. This invention adds an N-cycle consistency verification layer after the redundancy voting stage, requiring the real-time voting result to remain consistent for N consecutive cycles before updating the output voting value (VoterValue). This mechanism effectively eliminates instantaneous inconsistencies caused by time synchronization problems.

[0018] 2. Suppressing misjudgments caused by the propagation of transient faults Even if a servo controller encounters sensor interference or other transient anomalies causing brief data jumps, these transient anomalies will be detected and excluded from the N-cycle consistency verification. This mechanism avoids degrading the system to emergency mode due to a single data fluctuation, reducing unnecessary emergency response handling. Compared with the method proposed in patent CN117520059A, it performs more robustly when handling sensor data with large transient changes or mixed data across cycles.

[0019] 3. Improve reliability and security By introducing a continuous N-step consistency verification mechanism, it is ensured that all channels maintain stable output over a period of time. This improvement enhances the overall reliability of the system and significantly improves flight safety.

[0020] In summary, the combination of the "redundancy voting stage" and "N-shot consistency verification" in this invention not only solves the timing asynchrony problem and the problem of misjudgment caused by transient faults in traditional methods, but also further improves the stability and accuracy of data voting through multi-shot consistency verification. Therefore, this technical solution is very suitable for application in high-reliability aviation redundancy systems.

[0021] Features and advantages 1. Simple and efficient Compared to the complex method of patent CN111026689B, the present invention is more direct and effective, using a simple N-step consistency mechanism to ensure the consistency and reliability of the results.

[0022] 2. High robustness It exhibits excellent stability when faced with special situations such as instantaneous data fluctuations or sensor interference, avoiding unnecessary system degradation.

[0023] 3. Improve voting accuracy By limiting the output to remain consistent only within N consecutive cycles, the possibility of erroneous votes is effectively reduced, ensuring that the final voting result is accurate and reliable.

[0024] 4. Easy to implement The method is simple and straightforward, and can be quickly embedded into existing systems without requiring complex additional hardware or software modifications. Attached Figure Description

[0025] Figure 1 This is an overview diagram of the N-step consensus verification of redundancy voting; Figure 2 When the channel is well synchronized, the CCDL transmission takes a long time, causing the data in this channel to be out of sync with the data in other channels. Figure 3When the channel is well synchronized, the data update of this channel occurs after the CCDL transmission, resulting in the data of this channel being out of sync with that of other channels, which is case 1. Figure 4 When the channel is well synchronized, the data update of this channel occurs after the CCDL transmission, causing the data of this channel to be out of sync with that of other channels, case 2. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions in the embodiments of this invention will be described in more detail below. In the examples, the same or similar reference numerals denote the same or similar components or elements having the same or similar functions throughout. The described embodiments are some, but not all, of the embodiments of this invention. The embodiments described below with reference to reference are exemplary and intended to explain this invention, and should not be construed as limiting the invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention. The embodiments of this invention will be described in detail below.

[0027] 1. Remaining Voting Stage (1) Receive updated data for this channel and its self-monitoring results, receive updated data for other channels and their self-monitoring results through CCDL, and monitor the CCDL status at the same time.

[0028] (2) Redundancy voting is performed based on the data of all channels, the self-monitoring results of the corresponding channels, and the CCDL status.

[0029] (3) The average value of data that are normal in channel self-monitoring, normal in corresponding channel CCDL status, and have little difference between values ​​is calculated to obtain the real-time voting result (RealVoterValue).

[0030] 2. N-shot consistency verification (1) If the real-time voting result (RealVoterValue) is consistent for N consecutive cycles, then update the output voting value (VoterValue).

[0031] (2) Since the real-time voting result (RealVoterValue) is a floating-point number, but the range of the floating-point number is within the limit, the absolute tolerance method is used to determine whether the floating-point numbers are equal and consistent.

[0032] Example Taking a triple-redundant flight control system for unmanned aerial vehicles as an example: 1. Initialize parameters The control surface position command is initialized to the control surface position value.

[0033] 2. Remaining Voting Balance The control stick sets the rudder surface command and sends it to each servo actuator controller via 1394 communication. After the rudder surface command is set to 9° for a period of time, the control stick is then sent to set the rudder surface command to 15°. The rudder surface command received by each servo actuator controller via 1394 changes from 9° to 15°. However, a timing deviation occurs during the redundancy vote. From the perspective of channel A, the rudder surface command of channel A is 15°, but the rudder surface commands received by channel A from channels B and C are 9°. That is, the rudder surface command values ​​participating in the vote are 15°, 9°, and 9°, resulting in a vote result of 11°, while the actual rudder surface command should be 15°.

[0034] 3. N-shot consistency verification When the data cycle transmitted by the 1394 communication is greater than 2T, N=2 is taken. When the redundancy voting result (VoterValue) is 9°, the previous real-time redundancy voting result (RealVoterValue) is also 9°. When the current real-time redundancy voting result (RealVoterValue) is 11°, since 9° and 11° are inconsistent, the redundancy voting result (VoterValue) is not updated. After another cycle (T), the control surface command values ​​participating in the voting are 15°, 15°, and 15°. °, the real-time redundancy voting result (RealVoterValue) is 15°. Since 11° and 15° are inconsistent, the value of the redundancy voting result (VoterValue) is not updated. After another cycle (T), the values ​​of the control surface commands participating in the voting are still 15°, 15°, 15°, and the real-time redundancy voting result (RealVoterValue) is 15°. Since 15° and 15° are consistent, the value of the redundancy voting result (VoterValue) is updated to 15°, which is consistent with the control surface commands issued by the control stick.

[0035] Furthermore, unless otherwise defined, the technical or scientific terms used in this application description shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms "upper," "lower," "left," "right," "center," "vertical," "horizontal," "inner," and "outer," etc., used in this application description to indicate relative direction or positional relationship are used only to indicate relative orientation or positional relationship, and do not imply that the device or component must have a specific orientation, or be constructed and operated in a specific orientation. When the absolute position of the described object changes, its relative positional relationship may also change accordingly, and therefore should not be construed as a limitation on this application. The terms "first," "second," "third," and similar terms used in this application description are used only for descriptive purposes to distinguish different components, and should not be construed as indicating or implying relative importance. The terms "a," "one," or "the," etc., used in this application description should not be construed as an absolute limitation on quantity, but should be construed as indicating the existence of at least one. The terms "including," "comprising," etc., used in this application description mean that the element or object preceding the word covers the element or object listed after the word and its equivalents, without excluding other elements or objects.

[0036] Furthermore, it should be noted that, unless otherwise explicitly specified and limited, terms such as “installation,” “connection,” and “linkage” used in the description of this application should be interpreted broadly. For example, a connection can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; or it can be a connection within two components. Those skilled in the art can understand its specific meaning in this application according to the specific circumstances.

[0037] The above description is merely a specific embodiment of the present invention and is not intended to limit the present invention. Within the spirit and principles of the present invention, any person skilled in the art may use the above-disclosed technical content to make changes or modifications to equivalent embodiments and apply them to other fields. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention, as well as any modifications, equivalent substitutions, improvements, etc., should be included within the protection scope of the present invention.

Claims

1. A method for achieving consensus on redundancy data voting results in a flight control system, applied to a servo actuator controller with a dual-redundancy or triple-redundancy architecture, characterized in that, Includes the following steps: Step S1: Set the system period T and the number of consistency verification cycles N, where N is a positive integer greater than or equal to 2; Step S2: Data is transmitted between channels via cross-transmission at time intervals of T; the update cycle of data in each channel is at least N times the time T. Step S3: After updating the data in this channel and receiving data from other channels, perform data redundancy voting and generate real-time voting results; Step S4: Perform N-stage consistency verification on the real-time voting results; Step S5: When the real-time voting result is a floating-point number, the absolute tolerance method is used to determine whether the floating-point numbers are equal and consistent; Step S6: If the real-time voting results are consistent for N consecutive cycles, update the redundancy voting value; Otherwise, the remaining voting value remains unchanged.

2. The method as described in claim 1, characterized in that, The data redundancy voting in step S3 includes: receiving and updating the data and self-monitoring results of this channel; receiving and updating the data and self-monitoring results of other channels through CCDL; monitoring the CCDL transmission status; and performing redundancy voting based on the data of all channels, the self-monitoring results of the corresponding channels, and the CCDL status.

3. The method as described in claim 1, characterized in that, The specific process of the redundancy voting is as follows: for data where the channel data self-monitoring is normal, the corresponding channel CCDL status is normal, and the numerical difference is within a preset range, the average value calculation method is used to generate real-time voting results.

4. The method as described in claim 1, characterized in that, The N-shot consistency verification in step S4 specifically includes: setting up a first-in-first-out buffer of length N to store the real-time voting results of the most recent N shots; comparing the consistency of the N real-time voting results in the buffer; and determining that the consistency verification has passed when all N results are consistent.

5. The method as described in claim 1, characterized in that, The absolute tolerance method in step S5 is as follows: Let two floating-point numbers be a and b, and give an absolute tolerance ε. When |ab| ≤ ε, the two floating-point numbers are determined to be equal and consistent.

6. The method as described in claim 5, characterized in that, The absolute tolerance ε ranges from 0.01% to 0.1% of the data limit range; the consistency verification number N is determined based on the actual update cycle of the channel data, specifically: N < actual update cycle of channel data / T.

7. The method as described in claim 6, characterized in that, The method also includes an exception handling step: When the real-time voting result (RealVoterValue) fails to pass the consistency verification for M consecutive cycles, a system alarm is triggered, where M>N; Record the occurrence time and duration of inconsistent events for subsequent system health status analysis.

8. A redundancy data voting device for a flight control system implementing the method of any one of claims 1-7, characterized in that, include: The data acquisition module is used to acquire data from this channel and obtain data from other channels via CCDL; The data voting module is used to perform redundancy voting on the collected data and generate real-time voting results; The consistency verification module is used to perform N-cycle consistency verification on the real-time voting results; The output control module is used to update or maintain the redundancy voting value based on the verification results.

9. The apparatus as claimed in claim 8, characterized in that, The consistency verification module includes: The data caching unit stores the real-time voting results of the most recent N cycles; the consistency judgment unit determines the consistency of data within the cache; and the tolerance calculation unit performs absolute tolerance comparisons of floating-point numbers.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the program implements the method described in any one of claims 1-7.

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