Dual-redundancy control system applied to rudder system of unmanned aerial vehicle

Abstract

The utility model provides a dual-redundancy control system applied to an unmanned aerial vehicle rudder system. The dual-redundancy control system comprises a first power supply module, a second power supply module, a first communication interface, a second communication interface, a first processor module, a second processor module, an arbitration circuit module, a first driving circuit module, a second driving circuit module, a first motor and a second motor. Compared with the prior art, the signal processing digital control circuit based on the double processors realizes three-loop control of the permanent magnet synchronous motor, and the processors carry out online fault analysis, diagnosis and reconstruction through various acquired signals, so that when an irreversible fault occurs in one of the channels, the fault of the permanent magnet synchronous motor can be eliminated. And the system can still automatically switch to the other channel to work normally, and the performance of the system is ensured not to be degraded.

Description

Technical Field

[0001] The utility model relates to the technical field of electric servo, in particular to a dual-redundancy control system applied to a rudder system of an unmanned aerial vehicle. Background Art

[0002] The occurrence of failures in the UAV flight control system is objectively unavoidable. Most of the time, the only way to improve the system reliability is to enhance the quality of the components of the control system and increase the life of the components. In the 1970s, research on fault-tolerant control technology began. When one or some parts of the aircraft are damaged, the remaining conditions can be used to extend the survival of the aircraft, obtain relatively good flight quality, and reduce losses.

[0003] At present, there are mainly two types of redundancy control technologies: similar redundancy and dissimilar redundancy. Similar redundancy design uses similar or identical software and hardware to design the redundancy system based on the zero tolerance level of failure; dissimilar redundancy refers to the use of different software and hardware to reduce the possibility of failure caused by common errors in individual components.

[0004] With the continuous development of UAV performance, the fault-tolerant technical performance of the existing flight control system has gradually been unable to meet the rapid development of the UAV field. The cost of enhancing the quality of control system components and improving the life of components is high, but the reliability has not been significantly improved. In addition, with the increase of redundant systems, the corresponding detection arbitration and conversion drive devices will inevitably increase, and the increase in reliability will inevitably become slow. Utility Model Content

[0005] In view of this, one of the technical problems solved by the embodiments of the utility model is to provide a dual-redundancy control system applied to the rudder system of an unmanned aerial vehicle, so as to overcome the problem in the prior art that adding a redundancy system leads to an increase in the corresponding detection arbitration and conversion drive devices, and the increase in reliability becomes slow.

[0006] In a first aspect, the utility model provides a dual-redundancy control system applied to a drone rudder system, the system comprising: a first power module, a second power module, a first communication interface, a second communication interface, a first processor module, a second processor module, an arbitration circuit module, a first drive circuit module, a second drive circuit module, a first motor, and a second motor;

[0007] Wherein, the first power module is connected to the first processor module through the first communication interface;

[0008] The second power supply module is connected to the second processor module via the second communication interface;

[0009] The first processor module is connected to the arbitration circuit module via a first electrical signal, and the first processor module is connected to the first drive circuit module via a first communication connection, wherein the first communication connection supports an RS-422 communication protocol;

[0010] The second processor module is connected to the arbitration circuit module via a second electrical signal, and the second processor module is connected to the second drive circuit module via a second communication connection, wherein the second communication connection supports the RS-422 communication protocol;

[0011] The arbitration circuit module is connected to the first driving circuit module via a third communication connection, and the arbitration circuit module is connected to the second driving circuit module via a fourth communication connection, and both the third communication connection and the fourth communication connection support the RS-422 communication protocol;

[0012] The first driving circuit module is connected to the first motor via a third electrical signal;

[0013] The second driving circuit module is connected to the second motor via a fourth electrical signal.

[0014] In some embodiments,

[0015] The first power supply module includes a first resolver decoding circuit submodule;

[0016] The first resolver decoding circuit submodule is connected to the first processor module via a fifth communication connection; wherein the fifth communication connection supports a serial synchronous communication protocol.

[0017] In some embodiments,

[0018] The second power supply module includes a second resolver decoding circuit submodule;

[0019] The second resolver decoding circuit submodule is connected to the second processor module via a sixth communication connection; wherein the sixth communication connection supports a serial synchronous communication protocol.

[0020] In some embodiments,

[0021] The first processor module includes a first DSP submodule;

[0022] The first DSP sub-module is connected to the first resolver decoding circuit sub-module via a first communication interface.

[0023] In some embodiments,

[0024] The second processor module includes a second DSP submodule;

[0025] The second DSP sub-module is connected to the second resolver decoding circuit sub-module via a second communication interface.

[0026] In some embodiments,

[0027] The first driving circuit module includes: a first A / D converter submodule;

[0028] The first A / D converter submodule is connected to the first resolver decoding circuit submodule via a first data connection, and the first A / D converter submodule is connected to the first DSP submodule via a fifth electrical signal connection.

[0029] In some embodiments,

[0030] The second driving circuit module includes: a second A / D converter submodule;

[0031] The second A / D converter submodule is connected to the second resolver decoding circuit submodule via a second data connection, and the second A / D converter submodule is connected to the second DSP submodule via a sixth electrical signal connection.

[0032] In some embodiments,

[0033] The arbitration circuit module includes a bidirectional tri-state buffer;

[0034] The bidirectional tri-state buffer is used to control the working mode of the first driving circuit module or the second driving circuit module.

[0035] In some embodiments,

[0036] The first communication interface is a first universal asynchronous communication interface provided on the first DSP module.

[0037] In some embodiments,

[0038] The second communication interface is a second universal asynchronous communication interface provided on the second DSP module.

[0039] In a dual-redundancy control system for a drone rudder system provided by an embodiment of the utility model, the system includes: a first power supply module, a second power supply module, a first communication interface, a second communication interface, a first processor module, a second processor module, an arbitration circuit module, a first drive circuit module, a second drive circuit module, a first motor, and a second motor; wherein the first power supply module is connected to the first processor module via the first communication interface; the second power supply module is connected to the second processor module via the second communication interface; the first processor module is connected to the arbitration circuit module via a first electrical signal, and the first processor module is connected to the first drive circuit module via a first communication interface. , the first communication connection supports the RS-422 communication protocol; the second processor module is connected to the arbitration circuit module through the second electrical signal, and the second processor module is connected to the second drive circuit module through the second communication connection, and the second communication connection supports the RS-422 communication protocol; the arbitration circuit module is connected to the first drive circuit module through the third communication connection, and the arbitration circuit module is connected to the second drive circuit module through the fourth communication connection, and the third communication connection and the fourth communication connection both support the RS-422 communication protocol; the first drive circuit module is connected to the first motor through the third electrical signal; the second drive circuit module is connected to the second motor through the fourth electrical signal. Therefore, compared with the prior art, in the scheme of this embodiment, by adopting parallel redundancy at key parts, it not only has the ability to basically drive the deflection of the rudder surface, but also has the ability to detect its own working state, handle faults and report faults, so as to maximize the hardware reliability of the system; based on the signal processing digital control circuit of the dual processor, the three-ring control of the permanent magnet synchronous motor is realized, and the processor performs online fault analysis, diagnosis and reconstruction through various collected signals, so as to ensure that when an irreversible fault occurs in one channel, the system can still automatically switch to another channel to work normally, and ensure that its performance is not degraded. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0041] Figure 1 This is a schematic structural diagram of a dual-redundancy control system applied to a rudder system of an unmanned aerial vehicle disclosed in the utility model;

[0042] Figure 2 The utility model discloses a circuit principle block diagram of a dual-redundancy control system applied to a rudder system of an unmanned aerial vehicle. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0044] It should be noted that the terms "first", "second", "third" and "fourth" in the specification and claims of the utility model are used to distinguish different objects, rather than to describe a specific order. The terms "including" and "having" in the embodiments of the utility model and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, device, product or equipment that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0045] like Figure 1 As shown, Figure 1 The utility model discloses a dual-redundancy control system for a drone rudder system, the system comprising:

[0046] A first power module, a second power module, a first communication interface, a second communication interface, a first processor module, a second processor module, an arbitration circuit module, a first drive circuit module, a second drive circuit module, a first motor, and a second motor.

[0047] In this embodiment, the first power module is connected to the first processor module via the first communication interface. Figure 2 The first power supply module includes a first resolver decoding circuit submodule, a first secondary power supply circuit submodule, a first potentiometer, a first LDO power supply circuit submodule, and a first temperature acquisition circuit submodule.

[0048] The first resolver decoding submodule may be a resolver decoding chip AD2S1210. The first resolver decoding submodule is connected to the first processor module via a fifth communication connection, and the first resolver decoding submodule is used to read the rotor position and rotor speed of the first motor.

[0049] Wherein, the fifth communication connection supports a serial synchronous communication protocol.

[0050] Among them, the specific types of the first and second power supply circuit sub-modules are not limited and can be reasonably selected according to actual application requirements.

[0051] The first potentiometer is used for voltage and current monitoring. The specific type of the first potentiometer is not limited and can be reasonably selected according to actual application requirements.

[0052] Among them, the specific type of the first LDO power circuit submodule is not limited and can be reasonably selected according to actual application requirements.

[0053] The first temperature acquisition circuit submodule is used for temperature monitoring. The specific type of the temperature acquisition circuit submodule is not limited and can be reasonably selected according to actual application requirements.

[0054] In this embodiment, the second power supply module is connected to the second processor module via the second communication interface. Figure 2 The second power supply module includes a second resolver decoding circuit submodule, a second secondary power supply circuit submodule, a second potentiometer, a second LDO power supply circuit submodule, and a second temperature acquisition circuit submodule.

[0055] The second resolver decoding submodule may be a resolver decoding chip AD2S1210. The second resolver decoding submodule is connected to the second processor module via a sixth communication connection, and the second resolver decoding submodule is used to read the rotor position and rotor speed of the second motor.

[0056] Wherein, the sixth communication connection supports a serial synchronous communication protocol.

[0057] Among them, the specific type of the second secondary power supply circuit submodule is not limited and can be reasonably selected according to actual application requirements.

[0058] The second potentiometer is used for voltage and current monitoring. The specific type of the second potentiometer is not limited and can be reasonably selected according to actual application requirements.

[0059] Among them, the specific type of the second LDO power supply circuit submodule is not limited and can be reasonably selected according to actual application requirements.

[0060] The second temperature acquisition circuit submodule is used for temperature monitoring. The specific type of the temperature acquisition circuit submodule is not limited and can be reasonably selected according to actual application requirements.

[0061] In this embodiment, the first communication interface is a first universal asynchronous communication interface provided on the first DSP module. The first communication interface uses the SCI module provided by the DSP digital signal processor, and the bus transceiver adopts the isolated transceiver ADM2582E. The signal is isolated on the logic side of the interface without the need for an external optocoupler. The chip has an internal integrated isolated DCDC power supply, and no external isolation module is required to achieve power isolation.

[0062] In this embodiment, the second communication interface is a first universal asynchronous communication interface provided on the second DSP module. The second communication interface uses the SCI module provided by the DSP digital signal processor, and the bus transceiver adopts the isolated transceiver ADM2582E. The signal is isolated on the logic side of the interface without the need for an external optocoupler. The chip has an internal integrated isolated DCDC power supply, and no external isolation module is required to achieve power isolation.

[0063] In this embodiment, the first processor module is connected to the arbitration circuit module via a first electrical signal, and the first processor module is connected to the first driving circuit module via a first communication connection. The first communication connection supports the RS-422 communication protocol.

[0064] Among them, see Figure 2 The first processor module includes a first DSP submodule. The first DSP submodule is connected to the first resolver decoding circuit submodule via a first communication interface. The first DSP submodule is used to implement serial mode control, resolution and mode configuration of the first resolver decoding circuit submodule, and receive the rotor position and rotor speed of the first motor sent by the first resolver decoding circuit submodule via SPI serial communication.

[0065] In this embodiment, the second processor module is connected to the arbitration circuit module via a second electrical signal, and the second processor module is connected to the second drive circuit module via a second communication connection. The second communication connection supports the RS-422 communication protocol.

[0066] Among them, see Figure 2 The second processor module includes a second DSP submodule. The second DSP submodule is connected to the second resolver decoding circuit submodule via a second communication interface. The second DSP submodule is used to implement serial mode control, resolution and mode configuration of the second resolver decoding circuit submodule, and receive the rotor position and rotor speed of the second motor sent by the second resolver decoding circuit submodule via SPI serial communication.

[0067] In this embodiment, the arbitration circuit module is connected to the first drive circuit module via a third communication connection, and the arbitration circuit module is connected to the second drive circuit module via a fourth communication connection. Both the third communication connection and the fourth communication connection support the RS-422 communication protocol. The arbitration circuit module is used to implement arbitration switching and key signal enabling of the system. The arbitration circuit module arbitrates the output of the system according to a pre-set arbitration logic, and switches the output of the main and standby controllers according to the arbitration results to prevent the output of the faulty road and ensure that the system output is correct and reliable.

[0068] In this embodiment, the arbitration circuit module uses a bidirectional 16-bit tri-state buffer 74LVC16T245, which is used to control the working mode of the first drive circuit module or the second drive circuit module. By controlling the enable terminal and the direction selection terminal, 16-bit bidirectional data transmission can be achieved. The arbitration circuit provides opposite enable signals to the chips of the first processor module and the second processor module to ensure that when one channel is working to output a PWM signal, the other channel is not working.

[0069] In this embodiment, the first driving circuit module is connected to the first motor via a third electrical signal.

[0070] In this embodiment, see Figure 2 The first driving circuit module includes a first A / D converter submodule, a first power driving interface, and a first RS422 communication circuit.

[0071] The first A / D converter submodule is connected to the first resolver decoding circuit submodule via a first data connection, and the first A / D converter submodule is connected to the first DSP submodule via a fifth electrical signal. The first A / D converter submodule uses a 16-bit SAR analog-to-digital converter AD7606, which has 8 channels of independent synchronous input to collect analog signals.

[0072] There is no limit to the specific configuration of the first power drive interface, and a reasonable selection can be made according to actual application requirements.

[0073] In this embodiment, the second driving circuit module is connected to the second motor via a fourth electrical signal.

[0074] In this embodiment, see Figure 2 The second driving circuit module includes a second A / D converter submodule, a second power driving interface, and a second RS422 communication circuit.

[0075] The second A / D converter submodule is connected to the second resolver decoding circuit submodule via a second data connection, and the second A / D converter submodule is connected to the second DSP submodule via a sixth electrical signal. The second A / D converter submodule uses a 16-bit SAR analog-to-digital converter AD7606, which has 8 channels of independent synchronous input to reasonably select analog signals.

[0076] There is no limit to the specific configuration of the second power drive interface, and a reasonable selection can be made according to actual application requirements.

[0077] In this embodiment, the specific type of the first motor is not limited and can be reasonably selected according to actual application requirements.

[0078] In this embodiment, the specific type of the second motor is not limited and can be reasonably selected according to actual application requirements.

[0079] As can be seen from the above embodiment, the system includes: a first power module, a second power module, a first communication interface, a second communication interface, a first processor module, a second processor module, an arbitration circuit module, a first drive circuit module, a second drive circuit module, a first motor, and a second motor; wherein the first power module is connected to the first processor module via the first communication interface; the second power module is connected to the second processor module via the second communication interface; the first processor module and the arbitration circuit module are connected via a first electrical signal, and the first processor module and the first drive circuit module are connected via a first communication connection, and the first communication connection supports the RS-422 communication protocol; the second processor module and the arbitration circuit module are connected via a second electrical signal, and the second processor module and the second drive circuit module are connected via a second communication connection, and the second communication connection supports the RS-422 communication protocol; the arbitration circuit module and the first drive circuit module are connected via a third communication connection, and the arbitration circuit module and the second drive circuit module are connected via a fourth communication connection, and both the third communication connection and the fourth communication connection support the RS-422 communication protocol; the first drive circuit module and the first motor are connected via a third electrical signal; the second drive circuit module and the second motor are connected via a fourth electrical signal. Therefore, compared with the prior art, the solution of this embodiment adopts parallel redundancy in key parts, which not only has the basic ability to drive the deflection of the rudder surface, but also has the ability to detect its own working status, handle faults and report faults, thereby maximizing the hardware reliability of the system; the signal processing digital control circuit based on the dual processor realizes the three-ring control of the permanent magnet synchronous motor, and the processor performs online fault analysis, diagnosis and reconstruction through the collected various signals to ensure that when an irreversible fault occurs in one of the channels, the system can still automatically switch to another channel to work normally and ensure that its performance is not degraded.

[0080] The present invention is described with reference to the flowchart and / or block diagram of the method according to the embodiment of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the process in the flowchart. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0081] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0082] It should be understood by those skilled in the art that the embodiments of the present invention can be provided as methods and devices. Therefore, the present invention can be in the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention can be in the form of a computer program product implemented on one or more computer storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program code.

[0083] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0084] The above are only embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the scope of the claims of the present invention.

Claims

1. A dual-redundancy control system applied to a drone rudder system, characterized in that: The system comprises: a first power module, a second power module, a first communication interface, a second communication interface, a first processor module, a second processor module, an arbitration circuit module, a first drive circuit module, a second drive circuit module, a first motor, and a second motor; Wherein, the first power module is connected to the first processor module through the first communication interface; The second power supply module is connected to the second processor module via the second communication interface; The first processor module is connected to the arbitration circuit module via a first electrical signal, and the first processor module is connected to the first drive circuit module via a first communication connection, wherein the first communication connection supports an RS-422 communication protocol; The second processor module is connected to the arbitration circuit module via a second electrical signal, and the second processor module is connected to the second drive circuit module via a second communication connection, wherein the second communication connection supports the RS-422 communication protocol; The arbitration circuit module is connected to the first driving circuit module via a third communication connection, and the arbitration circuit module is connected to the second driving circuit module via a fourth communication connection, and both the third communication connection and the fourth communication connection support the RS-422 communication protocol; The first driving circuit module is connected to the first motor via a third electrical signal; The second driving circuit module is connected to the second motor via a fourth electrical signal.

2. The system according to claim 1, characterized in that The first power supply module includes a first resolver decoding circuit submodule; The first resolver decoding circuit submodule is connected to the first processor module via a fifth communication connection; wherein the fifth communication connection supports a serial synchronous communication protocol.

3. The system according to claim 1, characterized in that The second power supply module includes a second resolver decoding circuit submodule; The second resolver decoding circuit submodule is connected to the second processor module via a sixth communication connection; wherein the sixth communication connection supports a serial synchronous communication protocol.

4. The system according to claim 2, characterized in that The first processor module includes a first DSP submodule; The first DSP sub-module is connected to the first resolver decoding circuit sub-module via a first communication interface.

5. The system according to claim 3, characterized in that The second processor module includes a second DSP submodule; The second DSP sub-module is connected to the second resolver decoding circuit sub-module via a second communication interface.

6. The system according to claim 4, characterized in that The first driving circuit module includes: a first A / D converter submodule; The first A / D converter submodule is connected to the first resolver decoding circuit submodule via a first data connection, and the first A / D converter submodule is connected to the first DSP submodule via a fifth electrical signal connection.

7. The system according to claim 5, characterized in that The second driving circuit module includes: a second A / D converter submodule; The second A / D converter submodule is connected to the second resolver decoding circuit submodule via a second data connection, and the second A / D converter submodule is connected to the second DSP submodule via a sixth electrical signal connection.

8. The system according to claim 1, characterized in that The arbitration circuit module includes a bidirectional tri-state buffer; The bidirectional tri-state buffer is used to control the working mode of the first driving circuit module or the second driving circuit module.

9. The system according to claim 4, characterized in that The first communication interface is a first universal asynchronous communication interface provided on the first DSP sub-module.

10. The system according to claim 5, characterized in that The second communication interface is a second universal asynchronous communication interface provided on the second DSP sub-module.

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