CN112046783A - Flight control method and system of three-IMU redundancy technology - Google Patents
Flight control method and system of three-IMU redundancy technology Download PDFInfo
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- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
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- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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Abstract
The invention discloses a flight control method and a flight control system of a triple IMU redundancy technology, which comprise a self-detection CPU unit, a triple IMU redundancy unit, a triple redundancy voting output unit and a flight action control unit, wherein the self-detection CPU unit receives data transmitted by the triple IMU redundancy unit in real time and analyzes the received data packet, the triple redundancy voting output unit receives the data and flight parameters processed by the self-detection CPU unit and votes, and the flight action control unit receives the flight parameters transmitted by the triple redundancy voting unit, converts the flight parameters into electric signals and then executes actions. By the mode, the unmanned aerial vehicle emergency backup system can effectively avoid or reduce the generation of the unmanned aerial vehicle out of control phenomenon caused by the faults of the flight control system, effectively ensure the flight safety of the unmanned aerial vehicle, overcome the defects of poor conventional flight control stability and the like, and solve the emergency backup problem of the unmanned aerial vehicle flight control system.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to a flight control method and system based on a three-IMU redundancy technology.
Background
An unmanned aircraft, referred to as "drone", is an unmanned aircraft that is operated by a radio remote control device and a self-contained program control device, or is operated autonomously, either completely or intermittently, by an onboard computer. At present, along with the development of science and technology, the unmanned aerial vehicle technology is mature day by day, and unmanned aerial vehicle is with its characteristics fast, flexible operation widely used. From a certain perspective, an unmanned aerial vehicle can complete complex aerial flight tasks and various load tasks under unmanned conditions, and can be regarded as an "aerial robot".
Unmanned aerial vehicle flies to control and indicates can stabilize unmanned aerial vehicle flight gesture to can control unmanned aerial vehicle autonomous or semi-autonomous flight's control system, be unmanned aerial vehicle's brain. The flight control system is a core system of the whole flight process of the unmanned aerial vehicle, such as finishing takeoff, air flight, task execution, return recovery and the like, is equivalent to the effect of a driver on human and machine for the unmanned aerial vehicle, and is considered as one of the most core technologies of the unmanned aerial vehicle. If unmanned aerial vehicle flight control system breaks down, can lead to unmanned aerial vehicle instantaneous signal to lose, the machine phenomenon of exploding appears.
The flight control system of the unmanned aerial vehicle is a core control brain of the unmanned aerial vehicle and is responsible for controlling the flight process of the whole unmanned aerial vehicle, and once a fault occurs, the unmanned aerial vehicle crashes or produces very serious consequences. Therefore, redundant backup is very necessary for the flight control system of the unmanned aerial vehicle, the conventional backup is divided into dual-redundant hot backup, and the backup mechanism has the defects of low speed, poor stability and the like.
Disclosure of Invention
The invention aims to provide a flight control method and a flight control system based on a three-IMU redundancy technology, which can effectively avoid or reduce the generation of the out-of-control phenomenon of an unmanned aerial vehicle caused by the fault of the flight control system, effectively ensure the flight safety of the unmanned aerial vehicle, overcome the defects of poor conventional flight control stability and the like, and solve the problem of emergency backup of the flight control system of the unmanned aerial vehicle.
In order to solve the technical problems, the invention adopts a technical scheme that: the flight control system comprises a self-detection CPU unit, three IMU redundant units, three redundant voting output units and a flight action control unit, wherein the self-detection CPU unit receives data transmitted by the three IMU redundant units in real time and analyzes the received data packet, the three redundant voting output units receive the data and flight parameters processed by the self-detection CPU unit and vote, and the flight action control unit receives the flight parameters transmitted by the three redundant voting units, converts the flight parameters into electric signals and then executes actions.
Further, the three IMU redundant units comprise 3 IMU units, 3 GPS and 3 barometric altimeters, each IMU unit comprises an accelerometer, a speed sensor and two A/D converters, the accelerometer is used for sensing an acceleration component of the airplane relative to a ground perpendicular line, the speed sensor is used for sensing angle information of the airplane, the A/D converters convert analog variables collected by the sensors of the IMUs into digital information, and the analog variables are finally output according to the pitching angle, the inclination angle and the sideslip angle after being calculated by a CPU.
Further, the self-detection CPU unit comprises a flight control computer module and a self-detection module, wherein the flight control computer module calculates data transmitted by the IMU unit and obtains corresponding flight parameters according to a calculation result; the data of the flight parameters are transmitted to the self-detection module, and the data returned by the self-detection module are received and analyzed; the self-detection module compares IMU unit data and flight parameters obtained by analysis of the flight control computer module with preset flight parameters, votes according to comparison results, and confirms that the equipment is normal if the comparison results are consistent; and if the two are inconsistent, alarming, and simultaneously detecting and isolating the fault.
The triple redundancy voting output unit receives the data and flight parameters processed by the flight control computer module, sends the control instruction to the triple redundancy voter, and outputs the triple redundancy voter after voting.
Furthermore, the flight actuation control unit comprises an aircraft electric motor and an aircraft motor, and the flight actuation control unit receives the verified flight parameters transmitted by the triple redundant voting unit, converts the parameters into electric signals and executes actions through the aircraft electric motor and the aircraft motor.
A flight control method and system of a three-IMU redundancy technology are characterized by comprising the following steps:
the method comprises the following steps: the self-detection CPU unit carries out data interaction with each IMU unit, identifies the source of data equipment according to data returned by the three IMU units, and transmits the data of the three IMU units in real time;
step two: the triple-redundancy voting output unit receives the data and flight parameters processed by the self-detection CPU unit and votes;
step three: and the flight action control unit receives the flight parameters transmitted by the triple redundant voting unit, converts the flight parameters into electric signals and then executes actions.
Furthermore, the three IMU redundancy units in the step one adopt a particle swarm algorithm to realize fault isolation between different IMUs and different computer redundancies, namely, other work cannot be influenced after one control unit device fails.
Further, the particle swarm algorithm is as follows:
the initial position of each particle is random, let the input vector x ═ x1,x2,...,xN)TParameter range limits must be met:
xmin (1), Xmin (2),. Xmin (n)), Xmax (1), Xmax (2),. Xmax (n)), then the input vector x should satisfy Xmin<x<The initial velocity of each particle at Xmax is 0, i.e. the velocity of the next iteration of the 0 th particle (1. ltoreq. j. ltoreq.m) at v0
v(j)＝w·v0+c1·rand·(P(j)-X(j))+c2·rand·(PG-X(j))
If the data comparison results of the self-detection CPU units are consistent, determining that each IMU is in a normal state; and if the data of one IMU unit is inconsistent with the data of the IMU unit, the IMU unit equipment is considered to have a fault, and fault isolation is carried out, namely, other work cannot be influenced after one control unit equipment has a fault.
Further, the data transmitted by the self-detection CPU unit in the first step comprises information of an acceleration sensor, information of three speed sensors, satellite data collected by a GPS, and altitude information measured by a barometric altimeter.
The invention has the beneficial effects that: according to the flight control method and system based on the three IMU redundancy technology, the phenomenon that the unmanned aerial vehicle is out of control due to faults of the flight control system can be effectively avoided or reduced, the flight safety of the unmanned aerial vehicle is effectively guaranteed, the defects of poor conventional flight control stability and the like are overcome, and the problem of emergency backup of the unmanned aerial vehicle flight control system is solved.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a flight control method and system of a three-IMU redundancy technique according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention are described in detail below with reference to the accompanying drawings. Examples of these preferred embodiments are illustrated in the accompanying drawings. The embodiments of the invention shown in the drawings and described in accordance with the drawings are exemplary only, and the invention is not limited to these embodiments.
It should be noted that, in order to avoid obscuring the present invention with unnecessary details, only the structures and/or processing steps closely related to the scheme according to the present invention are shown in the drawings, and other details not so relevant to the present invention are omitted.
Also, in the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Referring to fig. 1, an embodiment of the present invention includes: a flight control system of a triple IMU redundancy technology comprises a self-detection CPU unit, a triple IMU redundancy unit, a triple redundancy voting output unit and a flight action control unit, wherein the self-detection CPU unit receives data transmitted by the triple IMU redundancy unit in real time and analyzes the received data packet, the triple redundancy voting output unit receives the data and flight parameters processed by the self-detection CPU unit and votes, and the flight action control unit receives the flight parameters transmitted by the triple redundancy voting unit, converts the flight parameters into electric signals and then executes actions.
Further, the three IMU redundant units comprise 3 IMU units, 3 GPS and 3 barometric altimeters, each IMU unit comprises an accelerometer, a speed sensor and two A/D converters, the accelerometer is used for sensing an acceleration component of the airplane relative to a ground perpendicular line, the speed sensor is used for sensing angle information of the airplane, the A/D converters convert analog variables collected by the sensors of the IMUs into digital information, and the analog variables are finally output according to the pitching angle, the inclination angle and the sideslip angle after being calculated by a CPU.
Further, the self-detection CPU unit comprises a flight control computer module and a self-detection module, wherein the flight control computer module calculates data transmitted by the IMU unit and obtains corresponding flight parameters according to a calculation result; the data of the flight parameters are transmitted to the self-detection module, and the data returned by the self-detection module are received and analyzed; the self-detection module compares IMU unit data and flight parameters obtained by analysis of the flight control computer module with preset flight parameters, votes according to comparison results, and confirms that the equipment is normal if the comparison results are consistent; and if the two are inconsistent, alarming, and simultaneously detecting and isolating the fault.
The triple redundancy voting output unit receives the data and flight parameters processed by the flight control computer module, sends the control instruction to the triple redundancy voter, and outputs the triple redundancy voter after voting.
Furthermore, the flight actuation control unit comprises an aircraft electric motor and an aircraft motor, and the flight actuation control unit receives the verified flight parameters transmitted by the triple redundant voting unit, converts the parameters into electric signals and executes actions through the aircraft electric motor and the aircraft motor.
A flight control method and system of a three-IMU redundancy technology are characterized by comprising the following steps:
the method comprises the following steps: the self-detection CPU unit carries out data interaction with each IMU unit, identifies the source of data equipment according to data returned by the three IMU units, and transmits the data of the three IMU units in real time; the IMU redundancy unit adopts a particle swarm algorithm to realize fault isolation between different IMUs and different computer redundancies, namely, one control unit does not influence other work after equipment fails, and the particle swarm algorithm is as follows:
the initial position of each particle is random, let the input vector x ═ x1,x2,...,xN)TParameter range limits must be met:
Xmin＝(xmin(1),xmin(2),...xmin(N))，xmax (n) — (Xmax (1), Xmax (2).. Xmax (n)) then the input vector x should satisfy Xmin<x<The initial velocity of each particle at Xmax is 0, i.e. the velocity of the next iteration of the 0 th particle (1. ltoreq. j. ltoreq.m) at v0
v(j)＝w·v0+c1·rand·P(j)-X(j))+c2·rand·(PG-X(j)
If the data comparison results of the self-detection CPU units are consistent, determining that each IMU unit is in a normal state; if the data of one IMU unit is inconsistent with the data of the IMU unit, the IMU unit equipment is considered to have a fault, and fault isolation is carried out, namely, other work cannot be influenced after one control unit equipment fails
Step two: the triple-redundancy voting output unit receives the data and flight parameters processed by the self-detection CPU unit and votes;
step three: and the flight action control unit receives the flight parameters transmitted by the triple redundant voting unit, converts the flight parameters into electric signals and then executes actions.
Further, the data transmitted by the self-detection CPU unit in the first step comprises information of an acceleration sensor, information of three speed sensors, satellite data collected by a GPS, and altitude information measured by a barometric altimeter.
The particle swarm algorithm is used for realizing fault isolation between different IMUs and different computer redundancies, namely, other work cannot be influenced after one control unit device fails. Any control unit equipment in the system fails, so that failure propagation cannot be caused, and the other two units can be seamlessly switched to take over to continuously provide dual-redundancy arrangement. In extreme condition applications, if one of the remaining dual redundant systems fails to operate, it is also taken over by the other seamless switch. The sensor state and the CPU state in the triple-redundancy flight control system are monitored in real time, corresponding fault handling can be carried out after an emergency occurs in the flight process, and the flight safety is further ensured. Because the control quantity of the triple-redundancy flight control system is calculated by the CPU, the independent clocks are used in the self-detection CPU unit modules, and the commands output by the mutually independent modules can generate unacceptable drift inevitably due to the action of the integrator along with the increase of the operation time, the triple-redundancy self-detection CPU units are adopted for synchronization, so that the step lengths of integral parts of the control quantity calculation are the same, and the flight safety is not influenced by the fact that the commands of three redundancies are voted by mistake due to integral drift.
In the working process of the triple-redundancy flight control system, the self-detection CPU unit runs the same task for each IMU unit. The self-detection CPU unit receives data of the three IMU redundant units at the same time, the sensor signals are selected to be input through a voting algorithm in the self-detection CPU unit, and meanwhile, a monitoring algorithm is operated to realize fault detection and isolation on the IMU units. And the data of each IMU unit is transmitted to the flight control computer, the data is analyzed, the control instruction is finally transmitted to the triple redundancy voter, and the triple redundancy voter votes and outputs the triple redundancy voter.
The method can effectively avoid or reduce the generation of the phenomenon of out-of-control of the unmanned aerial vehicle caused by the faults of the flight control system, effectively ensure the flight safety of the unmanned aerial vehicle, overcome the defects of poor conventional flight control stability and the like, and solve the problem of emergency backup of the flight control system of the unmanned aerial vehicle.
In a triple-redundancy flight control system, a single control unit device reports errors as 1 fault, 2 control unit devices report errors as 2 faults, and so on. The triple-redundancy flight control system is required to normally execute flight tasks when 1 fault occurs, and the system is safely degraded when 2 faults occur, but safe flight can still be ensured.
Furthermore, it should be noted that in the present specification, "include" or any other variation thereof is intended to cover a non-exclusive inclusion, so that a process, a method, an article or an apparatus including a series of elements includes not only those elements but also other elements not explicitly listed, or further includes elements inherent to such process, method, article or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
It should be understood that although the present description refers to embodiments, not every embodiment contains only a single technical solution, and such description is for clarity only, and those skilled in the art should take the description as a whole, and the technical solutions in the embodiments may be appropriately combined to form other embodiments understood by those skilled in the art.
Claims (9)
1. The flight control system of the triple IMU redundancy technology is characterized by comprising a self-detection CPU unit, a triple IMU redundancy unit, a triple redundancy voting output unit and a flight action control unit, wherein the self-detection CPU unit receives data transmitted by the triple IMU redundancy unit in real time and analyzes the received data packet, the triple redundancy voting output unit receives the data and flight parameters processed by the self-detection CPU unit and votes, and the flight action control unit receives the flight parameters transmitted by the triple redundancy voting unit, converts the flight parameters into electric signals and then executes actions.
2. The flight control system of three-IMU redundancy technology according to claim 1, characterized in that: the three IMU redundant units comprise 3 IMU units, 3 GPS and 3 barometric altimeters, each IMU unit comprises an accelerometer, a speed sensor and two A/D converters, the accelerometer is used for sensing an acceleration component of the airplane relative to a ground plumb line, the speed sensor is used for sensing angle information of the airplane, the A/D converters convert analog variables collected by the sensors of the IMU into digital information and finally output an airplane pitch angle, an airplane inclination angle and a airplane sideslip angle after CPU calculation.
3. The flight control system of three-IMU redundancy technology according to claim 1, characterized in that: the self-detection CPU unit comprises a flight control computer module and a self-detection module, the flight control computer module calculates data transmitted by the IMU unit, and corresponding flight parameters are obtained according to a calculation result; the data of the flight parameters are transmitted to the self-detection module, and the data returned by the self-detection module are received and analyzed; the self-detection module compares IMU unit data and flight parameters obtained by analysis of the flight control computer module with preset flight parameters, votes according to comparison results, and confirms that the equipment is normal if the comparison results are consistent; and if the two are inconsistent, alarming, and simultaneously detecting and isolating the fault.
4. The flight control system of three-IMU redundancy technology according to claim 1, characterized in that: the triple redundancy voting output unit comprises a data receiving unit and a triple redundancy voter, receives data and flight parameters processed by the flight control computer module, sends a control instruction to the triple redundancy voter, and outputs the triple redundancy voter after voting.
5. The flight control system of three-IMU redundancy technology according to claim 1, characterized in that: the flight actuation control unit comprises an aircraft electric motor and an aircraft motor, receives verified flight parameters transmitted by the triple redundant voting unit, converts the parameters into electric signals, and executes actions through the aircraft electric motor and the aircraft motor.
6. A flight control method and system of a three-IMU redundancy technology are characterized by comprising the following steps:
the method comprises the following steps: the self-detection CPU unit carries out data interaction with each IMU unit, identifies the source of data equipment according to data returned by the three IMU units, and transmits the data of the three IMU units in real time;
step two: the triple-redundancy voting output unit receives the data and flight parameters processed by the self-detection CPU unit and votes;
step three: and the flight action control unit receives the flight parameters transmitted by the triple redundant voting unit, converts the flight parameters into electric signals and then executes actions.
7. The flight control method of three-IMU redundancy technology according to claim 6, wherein: in the first step, the three IMU redundancy units adopt a particle swarm algorithm to realize fault isolation between different IMUs and different computer redundancies, namely, other work cannot be influenced after one control unit device fails.
8. The method of claim 7, wherein the method comprises: the particle swarm algorithm is as follows:
the initial position of each particle is random, let the input vector x ═ x1,x2,...,xN)TParameter range limits must be met:
xmin (1), Xmin (2),. Xmin (n)), Xmax (1), Xmax (2),. Xmax (n)), then the input vector x should satisfy Xmin < x < Xmax with the initial velocity of each particle being 0, i.e., v0 is 0 the velocity of the next iteration of the jth particle (1 ≦ j ≦ m)
v(j)＝w·v0+c1·rand·(P(j)-X(j))+c2·rand·(PG-X(j))
If the data comparison results of the self-detection CPU units are consistent, determining that each IMU is in a normal state; and if the data of one IMU unit is inconsistent with the data of the IMU unit, the IMU unit equipment is considered to have a fault, and fault isolation is carried out, namely, other work cannot be influenced after one control unit equipment has a fault.
9. The flight control method of three-IMU redundancy technology according to claim 6, wherein: the data transmitted by the self-detection CPU unit in the first step comprises acceleration sensor information, three speed sensor information, satellite data acquired by a GPS (global positioning system) and height information measured by a barometric altimeter.
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| CN113086220B (en) * | 2021-03-09 | 2024-04-30 | 深圳市南航电子工业有限公司 | Flight display method and system of flight display, electronic equipment and storage medium |
| CN113821059A (en) * | 2021-11-24 | 2021-12-21 | 中航金城无人系统有限公司 | Multi-rotor unmanned aerial vehicle sensor fault safety flight control system and method |
| CN114610074A (en) * | 2022-05-10 | 2022-06-10 | 之江实验室 | Redundancy flight control system and multi-rotor UAV suitable for multi-rotor UAV |
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| CN117446203A (en) * | 2023-10-26 | 2024-01-26 | 中航通飞华南飞机工业有限公司 | 429 bus general aircraft avionics cross-linking fault test method |
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