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CN101609329B - High-performance tri-redundancy steering engine based on single-channel dual-processor structure - Google Patents

High-performance tri-redundancy steering engine based on single-channel dual-processor structure Download PDF

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CN101609329B
CN101609329B CN2008101152222A CN200810115222A CN101609329B CN 101609329 B CN101609329 B CN 101609329B CN 2008101152222 A CN2008101152222 A CN 2008101152222A CN 200810115222 A CN200810115222 A CN 200810115222A CN 101609329 B CN101609329 B CN 101609329B
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steering gear
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康荣杰
焦宗夏
王少萍
陈丽莎
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Beihang University
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Abstract

本发明属于伺服控制领域，实现了一种基于单通道双处理器结构的高性能三余度舵机，涉及以高速数字处理器(DSP)为核心的嵌入式控制模块及其冗余配置和管理方案。其单通道硬件主要包括：前级处理器(FCP)09，次级处理器(SCP)10，故障隔离模块21，LVDT位移传感器18，电流传感器24，作动筒20，数据交叉传输通道(CCDL)23等。与传统的飞控计算机+作动器的舵回路模式相比，本发明减轻了飞控机的工作量，舵面闭环控制和余度管理任务封装到余度舵机内部完成，消除了飞控机和舵机之间的性能耦合。通过采用多环控制，双处理器互监控，数据交叉传输等策略，有效提高了舵机的控制性能与可靠性。

Figure 200810115222

The invention belongs to the field of servo control, realizes a high-performance triple-redundancy steering gear based on a single-channel dual-processor structure, and relates to an embedded control module with a high-speed digital processor (DSP) as the core and its redundant configuration and management plan. Its single-channel hardware mainly includes: front-end processor (FCP) 09, secondary processor (SCP) 10, fault isolation module 21, LVDT displacement sensor 18, current sensor 24, actuator 20, data cross transmission channel (CCDL )23 etc. Compared with the traditional flight control computer + actuator rudder circuit mode, the present invention reduces the workload of the flight control machine, and the rudder surface closed-loop control and redundancy management tasks are packaged inside the redundancy steering gear to complete, eliminating the need for flight control Performance coupling between motor and steering gear. By adopting strategies such as multi-loop control, dual-processor mutual monitoring, and data cross-transmission, the control performance and reliability of the steering gear are effectively improved.

Figure 200810115222

Description

一种基于单通道双处理器结构的高性能三余度舵机A high-performance triple-redundancy steering gear based on a single-channel dual-processor structure

技术领域 technical field

本发明属于机电伺服控制技术，涉及一种单通道双处理器结构的高性能三余度舵机。The invention belongs to electromechanical servo control technology, and relates to a high-performance triple-redundancy steering gear with a single-channel dual-processor structure.

背景技术 Background technique

伺服作动系统是飞行器控制系统的执行部件，用于实现飞行器舵面的位置控制，是组成飞行控制系统的重要分系统之一。研制高性能、高可靠的伺服舵机对于提高伺服作动系统乃至整个飞行控制系统的性能有着重要意义。The servo actuation system is the executive part of the aircraft control system, which is used to realize the position control of the aircraft rudder surface, and is one of the important subsystems of the flight control system. The development of high-performance and high-reliability servo steering gear is of great significance for improving the performance of the servo actuation system and even the entire flight control system.

充分利用数字处理技术和冗余技术，向模块化、智能化和高可靠性方向发展，是飞行作动控制的必然趋势。目前，余度舵机已获得广泛应用，通常的结构是以飞控计算机为核心，采集飞行器当前状态，计算舵机控制信号，并输出给余度舵机，同时，飞控计算机还担负着余度舵机的监控管理任务。这种舵回路结构存在的缺点是：Making full use of digital processing technology and redundancy technology to develop towards modularization, intelligence and high reliability is an inevitable trend of flight actuation control. At present, the redundant steering gear has been widely used. The usual structure is based on the flight control computer, which collects the current state of the aircraft, calculates the steering gear control signal, and outputs it to the redundant steering gear. At the same time, the flight control computer is also responsible for the redundancy. The monitoring and management tasks of the steering gear. The disadvantages of this rudder circuit structure are:

对飞控计算机的性能要求苛刻。飞控机需要消耗大量资源用于作动系统的控制律计算和余度管理，而作动控制仅仅是飞控机诸多飞行管理任务之一。It has strict requirements on the performance of the flight control computer. The flight control machine needs to consume a lot of resources for the control law calculation and redundancy management of the actuation system, and the actuation control is only one of the many flight management tasks of the flight control machine.

飞控机与舵机的性能耦合强烈。舵机性能参数或配置的变化，必然导致飞控机软硬件的修改，同样，飞控机参数的变化，也会影响舵机性能的发挥，无法实现舵机的模块化。The performance coupling between the flight controller and the steering gear is strong. Changes in the performance parameters or configuration of the steering gear will inevitably lead to modification of the software and hardware of the flight controller. Similarly, changes in the parameters of the flight controller will also affect the performance of the steering gear, and the modularization of the steering gear cannot be realized.

本发明在余度舵机的单通道内，用双数字处理器分担运动控制和余度管理任务，构成高性能三余度舵机，一方面减轻了飞控机负担，另一方面提高了舵机的控制性能和可靠性，真正实现了余度舵机的模块化、集成化。In the single channel of the redundant steering gear, the present invention uses dual digital processors to share the motion control and redundancy management tasks to form a high-performance three-redundant steering gear. The control performance and reliability of the steering gear have truly realized the modularization and integration of the redundant steering gear.

发明内容 Contents of the invention

本发明的目的是：提供一种结构紧凑、能够自主完成伺服控制和余度管理任务的高性能三余度舵机。The purpose of the present invention is to provide a high-performance three-redundancy steering gear with compact structure and capable of autonomously completing the tasks of servo control and redundancy management.

本发明的技术方案是：采取基于单通道双处理器结构的三余度配置，每个余度通道在硬件上主要包括：前级控制处理器(FCP)09，次级控制处理器(SCP)10，故障隔离模块21，LVDT位置传感器18，电流传感器24，作动筒20，数据交叉传输通道(CCDL)23等。前级控制处理器(FCP)和次级控制处理器(SCP)，其特征在于：前级控制处理器09和次级控制处理器10集成在舵机内部，采用DSP数字芯片。前级处理器接受飞控机04和LVDT传感器18的信号，形成表决/监控面，完成余度管理及数据分配任务；次级处理器采集电流、速度、位移等状态信号，完成多环反馈运动控制律计算，向作动器发出最终控制指令。双处理器通过双端口RAM 11通讯，并实时监控对方工作状态，使单通道具备了一定的自监控(BIT)能力，为整个系统达到二次故障正常工作(FO/FO/FS)提供保证。数据交叉传输通道和故障隔离模块，其特征在于：进行各通道间信息的交互，于舵机内部完成表决监控、故障诊断和隔离，实现了舵机的自主工作，最大限度减少了飞控机和余度舵机之间的性能耦合。舵机多环反馈运动控制律，其特征在于：从内至外依次为伺服阀电流控制环，舵机速度控制环，舵机位置控制环。多环控制策略有利于将干扰量及时补偿、消除于内环，避免对外环输出造成影响；有利于提高系统刚度；可以赋予的内环较高的响应速度，改善舵机整体动态特性。The technical scheme of the present invention is: adopt the three-redundancy configuration based on single-channel dual-processor structure, and each redundancy channel mainly comprises on hardware: pre-stage control processor (FCP) 09, secondary control processor (SCP) 10. Fault isolation module 21, LVDT position sensor 18, current sensor 24, actuator 20, data cross transmission channel (CCDL) 23, etc. The front-level control processor (FCP) and the secondary control processor (SCP) are characterized in that: the front-level control processor 09 and the secondary control processor 10 are integrated inside the steering gear, and a DSP digital chip is used. The pre-processor receives signals from flight controller 04 and LVDT sensor 18, forms a voting/monitoring surface, and completes redundancy management and data distribution tasks; the secondary processor collects status signals such as current, speed, and displacement, and completes multi-loop feedback movement The control law is calculated and the final control command is issued to the actuator. The dual processors communicate through the dual-port RAM 11 and monitor the working status of each other in real time, so that the single channel has a certain self-monitoring (BIT) capability, which provides a guarantee for the entire system to achieve the normal operation of the secondary failure (FO/FO/FS). The data cross-transmission channel and fault isolation module are characterized in that: the information interaction between each channel is carried out, and the voting monitoring, fault diagnosis and isolation are completed inside the steering gear, which realizes the autonomous work of the steering gear and minimizes the flight control machine and Performance coupling between redundant servos. The multi-loop feedback motion control law of the steering gear is characterized in that: from the inside to the outside, it is a servo valve current control loop, a steering gear speed control loop, and a steering gear position control loop. The multi-loop control strategy is conducive to timely compensation and elimination of interference in the inner loop, avoiding the impact on the output of the outer loop; it is conducive to improving the rigidity of the system; it can give the inner loop a higher response speed and improve the overall dynamic characteristics of the steering gear.

与常规余度舵机相比，本舵机可自主完成伺服控制与余度管理任务，具有很高的控制性能与可靠性，简化了舵机与飞控机的接口，实现了伺服作动集成化。Compared with the conventional redundant steering gear, this steering gear can independently complete the servo control and redundancy management tasks, has high control performance and reliability, simplifies the interface between the steering gear and the flight control machine, and realizes the servo action integration change.

附图说明 Description of drawings

图1是高性能三余度舵机结构原理图。Figure 1 is a schematic diagram of the structure of a high-performance three-redundancy steering gear.

图2是单通道结构原理图。Figure 2 is a schematic diagram of a single-channel structure.

具体实施方式 Detailed ways

高性能三余度舵机应完成两个任务：闭环伺服控制和自身余度管理。下面分别对其工作流程做详细说明。The high-performance three-redundancy steering gear should complete two tasks: closed-loop servo control and self-redundancy management. The following describes their workflow in detail.

以单通道闭环控制为例，飞行控制计算机04通过1553B总线(也可以是其它形式的总线或通讯方式)将飞控指令送入前级DSP处理器09；前级处理器通过双端口RAM11再将其传给次级处理器10。次级处理器利用A/D转换器14同时采集作动筒位移信号，作动筒速度信号和伺服阀电流信号，进行位置环、速度环和电流环的反馈控制计算，最终控制量通过D/A转换器07输出。驱动电路15将D/A电压信号转换成伺服阀16的驱动电流，控制作动筒20运动。三个通道同步工作，经力综合后驱动飞行器舵面，完成伺服作动。Taking the single-channel closed-loop control as an example, the flight control computer 04 sends flight control instructions to the front-stage DSP processor 09 through the 1553B bus (or other forms of buses or communication methods); It is passed to the secondary processor 10 . The secondary processor uses the A/D converter 14 to simultaneously collect the displacement signal of the actuator, the velocity signal of the actuator and the current signal of the servo valve to perform feedback control calculations on the position loop, speed loop and current loop, and the final control value is passed through D/ A converter 07 output. The driving circuit 15 converts the D/A voltage signal into the driving current of the servo valve 16 to control the movement of the cylinder 20 . The three channels work synchronously, and drive the rudder surface of the aircraft after synthesizing the force to complete the servo action.

为实现余度管理，LVDT传感器18检测本通道作动筒20的输出位移，经解调滤波电路22处理后，由A/D转换器13采集进入前级处理器。前级处理器通过CCDL交叉数据传输通道23将本通道位置信号发给其它两通道。这样每个通道的前级处理器均能感知三个通道的作动筒位移，并通过各自的表决/监控面判断是否有通道异常。三余度表决/监控面可以有效地检测到系统的一次故障，当发生二次故障时(即剩下的两个通道出现数据分离)，表决/监控面就无能为力了。这种情况下，需要通道具有自监控(BIT)能力。本发明中，每个通道的前级处理器和次级处理器在开机上电后就按照预设的协议，不断读写双端口RAM 11的某个特定区域，若其中一个处理器发生故障，另一个处理器能快速识别，并发通道自我隔离信号。另外，作动器的微动开关19可以感受运动的同步情况，检测出本通道的机械故障并告知处理器。每个通道的前级和次级处理器均可以向隔离模块21发出隔离请求。隔离模块对双处理器的请求取或，通过电磁阀17隔离故障通道。通过三通道监控/表决以及单通道双处理器互监控策略，可以使三余度舵机达到二次故障正常工作(FO/FO/FS)的可靠性水平。In order to realize redundancy management, the LVDT sensor 18 detects the output displacement of the actuator 20 in this channel, and after being processed by the demodulation filter circuit 22, it is collected by the A/D converter 13 and entered into the pre-processor. The pre-processor sends the position signal of this channel to the other two channels through the CCDL cross data transmission channel 23 . In this way, the pre-processor of each channel can sense the displacement of the actuators of the three channels, and judge whether there is any channel abnormality through their respective voting/monitoring surfaces. The triple-redundancy voting/monitoring surface can effectively detect a primary failure of the system. When a secondary failure occurs (that is, data separation occurs in the remaining two channels), the voting/monitoring surface is powerless. In this case, the channel is required to have self-monitoring (BIT) capability. In the present invention, the pre-processor and the secondary processor of each channel continuously read and write a certain specific area of the dual-port RAM 11 according to a preset protocol after being turned on and powered on. If one of the processors breaks down, Another processor recognizes quickly, and the concurrent channel self-isolates the signal. In addition, the microswitch 19 of the actuator can feel the synchronous situation of the movement, detect the mechanical failure of this channel and notify the processor. The front-end and second-end processors of each channel can send an isolation request to the isolation module 21 . The isolation module ORs the requests of the dual processors, and isolates the fault channel through the solenoid valve 17 . Through the three-channel monitoring/voting and single-channel dual-processor mutual monitoring strategy, the triple-redundancy steering gear can reach the reliability level of the normal operation of the second fault (FO/FO/FS).

Claims (4)

1.一种基于单通道双处理器结构的高性能三余度舵机，其特征在于： 1. A high-performance three-redundant steering gear based on single-channel dual-processor structure, characterized in that: 由三余度作动器控制器02和三余度作动器03构成，每个余度通道的硬件包括：前级控制处理器（FCP）09，次级控制处理器（SCP）10，故障隔离模块21，LVDT位置传感器18，电流传感器24，作动筒20，数据交叉传输通道（CCDL）23。 It is composed of three-redundant actuator controller 02 and three-redundant actuator 03. The hardware of each redundant channel includes: front-level control processor (FCP) 09, secondary control processor (SCP) 10, fault An isolation module 21 , an LVDT position sensor 18 , a current sensor 24 , an actuator 20 , and a data cross transmission channel (CCDL) 23 . 2.根据权利要求1所述的基于单通道双处理器结构的高性能三余度舵机,前级控制处理器（FCP）09和次级控制处理器（SCP）10集成在舵机内部，采用高速DSP数字芯片，前级控制处理器接受飞控计算机04和LVDT位置传感器18的信号，形成表决/监控面，完成余度管理及数据分配任务，次级控制处理器采集电流、速度、位移等状态信号，完成舵机多环反馈运动控制律的计算，向作动器发出最终控制指令，双处理器通过双端口RAM 11通讯，并实时监控对方工作状态，使单通道具备了一定的自监控（BIT）能力，为整个系统达到二次故障正常工作（FO/FO/FS）提供保证。 2. The high-performance triple-redundancy steering gear based on a single-channel dual-processor structure according to claim 1, the front-level control processor (FCP) 09 and the secondary control processor (SCP) 10 are integrated inside the steering gear, Using high-speed DSP digital chip, the front-level control processor accepts the signals of flight control computer 04 and LVDT position sensor 18, forms a voting/monitoring surface, and completes redundancy management and data distribution tasks, and the secondary control processor collects current, speed, and displacement Wait for the state signal to complete the calculation of the multi-loop feedback motion control law of the steering gear, and send the final control command to the actuator. The dual processors communicate through the dual-port RAM 11 and monitor the working status of the other party in real time, so that the single channel has a certain degree of self-control. The monitoring (BIT) capability provides guarantee for the whole system to achieve the normal operation of secondary failure (FO/FO/FS). 3.根据权利要求1所述的基于单通道双处理器结构的高性能三余度舵机,所述的数据交叉传输通道（CCDL）23和故障隔离模块21能够在没有飞控计算机参与的情况下，进行各通道间信息的交互，于舵机内部完成表决监控、故障诊断和隔离，实现了舵机的自主工作，最大限度减少了飞控计算机与余度舵机之间的性能耦合。 3. The high-performance triple-redundancy steering gear based on a single-channel dual-processor structure according to claim 1, the data cross transmission channel (CCDL) 23 and the fault isolation module 21 can operate without the participation of the flight control computer. Next, the information interaction between each channel is carried out, and the voting monitoring, fault diagnosis and isolation are completed inside the steering gear, which realizes the autonomous work of the steering gear and minimizes the performance coupling between the flight control computer and the redundant steering gear. 4.根据权利要求2所述的基于单通道双处理器结构的高性能三余度 舵机，所述的舵机多环反馈运动控制律从内至外依次为伺服阀电流控制环，舵机速度控制环，舵机位置控制环，多环控制策略有利于将干扰量消除于内环，避免对外环输出造成影响，有利于提高系统刚度，可以赋予内环较高的响应速度，改善舵机整体动态特性。  4. the high-performance three-redundancy steering gear based on the single-channel dual-processor structure according to claim 2, the multi-loop feedback motion control law of the steering gear is followed by the servo valve current control loop from the inside to the outside, and the steering gear The speed control loop, the servo position control loop, and the multi-loop control strategy are conducive to eliminating the interference in the inner loop, avoiding the impact on the output of the outer loop, and improving the stiffness of the system. It can give the inner loop a higher response speed and improve the steering gear. overall dynamics. the
CN2008101152222A 2008-06-19 2008-06-19 High-performance tri-redundancy steering engine based on single-channel dual-processor structure Expired - Fee Related CN101609329B (en)

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