KR101362912B1 - Flcc system having a failure management function and controlling method therefor - Google Patents

Abstract

According to the present invention, a fault diagnosis module executes a health monitor function to detect an error of an operating system (OS) mounted in each CPU module based on a state value of an aircraft actuator transmitted from a detection sensor installed on an actuator through a preconfigured multiple channel. A second step of diagnosing and outputting the error result information; If the fault diagnosis module diagnoses an error of an operating system (OS) mounted in each CPU module during the second process, if an error is detected only in one channel of the connected multiple channels, the corresponding channel is included. The present invention provides a flight control computer system having a failure diagnosis function including a third process of initializing all operating systems of each CPU module when an error is detected in two or more channels among multiple channels.
The present invention as described above, by using the RTOS-based health monitor function that supports the ARINC 653, by performing the troubleshooting for each operating system of the flight control computer system separated into a plurality of hardware structure, some hardware of the flight control computer system Even if it is changed, it uses RTOS-based health monitor function to continuously detect faults for each hardware operating system of flight control computer system to detect errors in advance, thus preventing fatal errors that may occur in actual flight of the aircraft. Has the effect.

Description

Flight control computer system with failure diagnosis function and its control method {FLCC system having a failure management function and controlling method therefor}

The present invention relates to a flight control computer system equipped with a fault diagnosis function and a control method thereof. In particular, each operating system of a flight control computer system separated into several hardware structures using an RTOS-based health monitor function supporting ARINC 653 is provided. The present invention relates to a flight control computer system equipped with a failure diagnosis function capable of preventing a fatal error occurring in an actual flight of an aircraft by performing a failure diagnosis for a flight and a control method thereof.

In general, the flight control system controls the attitude, speed, etc. of the aircraft according to the instructions of the aviator or the Flight Management Computer (FMC) or the flight control computer (FCC), and allows manual and automatic steering . Such a flight control system is composed of hardware such as a computer, a database, a detector and an actuator, and a software such as mode management, self diagnosis, fire control, and path control. In particular, the introduction of a digital computer, which has been continuously improved in performance despite miniaturization, has led to a dramatic improvement in flight control, making it possible to carry out precise flight and maneuvering that can not be imagined conventionally. , The appearance of the cockpit using the color monitor contributes to the safety enhancement of the aircraft operation by alleviating the maneuvering work of the pilot. Digital FBW (fly-by-wire) has been adopted not only in fighter aircraft but also in passenger aircraft. The FBW method is a method of controlling the steering surface by using an electric signal without using a cable or hydraulic pressure as in the prior art. However, there is an advantage in that the mechanical connecting device is simplified to reduce the total weight of the aircraft. However, It can be solved by a digital computer, which not only makes it easier to take off and land on an aircraft, but also makes it possible to develop dramatically in terms of functions, such as improving safety and improving the feeling of boarding. In addition, the flight control computer mounted on the aircraft performs a failure diagnosis by interrupting a built-in CPU or digital signal processor (DSP).

Referring to FIG. 1, the flight control computer system having the above-described conventional fault diagnosis function will be described.

A flight control CPU module 70 for controlling the flight of the aircraft by an OFP (Operational Flight Program) and an embedded operating system;

A mission control CPU module 71 that is hardwarely separated from the flight control CPU module 70 and controls the mission of the aircraft by the OPF and the built-in operating system;

A signal processing CPU module (72) which is hardwarely separated from the flight control CPU module (70) and the mission control CPU module (71) and processes various command signals and control signals by the OPF and the built - in operating system;

Aircraft actuators 73A-N which drive various electronic equipment and mechanical devices of the aircraft by the flight control CPU module 70, the mission control CPU module 71, and the signal processing CPU module 72 to execute automatic flight control. It includes.

On the other hand, the operation of the flight control computer system equipped with a conventional failure diagnosis function, first, to perform the flight control of the aircraft by the OFP mounted on the flight control computer 74, in this process with the flight control CPU module 70 The hardware control of the mission control CPU module 71 and the signal processing CPU module 72 is separated from each other to operate separately. That is, the flight control CPU module 70 controls the aircraft actuators 73A-N in order to control the flight of the aircraft by OFP (operational) and the built-in operating system. The mission control CPU module 71 controls the aircraft actuators 73A-N by the OPF and the built-in operating system to control a set mission, for example, a hit of a ground target, and the signal processing CPU module 72 And processes various command signals and control signals operated in the OFP by the OPF and the built-in operating system.

Here, the flight control CPU module 70, the mission control CPU module 71, and the signal processing CPU module 72 may further include memory and buffers therein via a bus line.

In this process, when the failure diagnosis mode is set, for example, the flight control CPU module 70, the mission control CPU module 71, and the signal processing CPU module 72 are separate for each CPU. Each function is operated to execute interrupt function for fault diagnosis. At this time, each of the flight control CPU module 70, the mission control CPU module 71 and the signal processing CPU module 72 is a flight control CPU module 70 of the corresponding hardware by the interrupt function is set, respectively, and the mission control Fault diagnosis is performed on the CPU module 71 and the signal processing CPU module 72, and appropriate measures are performed according to the result.

However, the conventional flight control computer system equipped with the above fault diagnosis function is performed by using the interrupt function of the CPU or DSP provided in each of the flight control CPU module, the mission control CPU module and the signal processing CPU module for the fault diagnosis. Since the interrupt routine should be modified when the CPU or DSP is changed, it is not possible to carry out continuous failure diagnosis, and there is a problem of limiting the usability of the failure diagnosis function of the flight control computer accordingly. .

In addition, since the fault diagnosis function of the conventional flight control computer system described above is processed by using only the interrupt function provided in the CPU or DSP, the operating system of each flight control CPU module, the mission control CPU module, and the signal processing CPU module is completely unsupported. Since it could not be diagnosed, it caused a problem that the aircraft always runs the risk of falling if the aircraft is operated with an error in the operating system.

Accordingly, the present invention has been invented to solve the problems of the prior art as described above. Even if some hardware of the flight control computer system is changed, the RTOS-based health monitor function is continuously used for each hardware operating system of the flight control computer system. It is an object of the present invention to provide a flight control computer system equipped with a failure diagnosis function for executing a failure diagnosis and detect an error in advance, and a control method thereof.

Another object of the present invention is to diagnose the operating system of several hardware devices in the flight control computer system by using the RTOS-based health monitor function, and to troubleshoot the error according to the error level for each channel to improve the stability of the system. The present invention provides a flight control computer system equipped with a fault diagnosis function and a control method thereof.

According to another aspect of the present invention, there is provided a flight control computer system including a flight control CPU module, a mission control CPU module, and a signal processing CPU module and controlling an aircraft actuator by an OFP and an operating system embedded therein,

A detection sensor installed at one side of the aircraft actuator and detecting a state value of an aircraft actuator executed by an instruction of an operating system mounted on each of the CPU modules;

It is installed in the form of a middleware module between each CPU module and the aircraft actuator, forms a multi-channel with each CPU module, and executes the health monitor function based on the state value of the aircraft actuator transmitted from the detection sensor through a plurality of channels. A flight control computer system having a failure diagnosis function including a failure diagnosis module for diagnosing an error of an operating system (OS) of a CPU module and outputting error result information thereof.

Still another aspect of the present invention provides a method comprising: a first process of a fault diagnosis module of a flight control computer system constituting a multi-channel for fault diagnosis between a CPU module and an aircraft actuator;

After the first process, the fault diagnosis module executes the health monitor function and based on the state value of the aircraft actuator transmitted from the detection sensor installed on the actuator through the preconfigured multi-channels. A second step of diagnosing the error and outputting the error result information;

If the fault diagnosis module diagnoses an error of an operating system (OS) mounted in each CPU module during the second process, if an error is detected only in one channel of the connected multiple channels, the corresponding channel is included. The present invention provides a control method of a flight control computer system having a failure diagnosis function including a third process of initializing all operating systems of each CPU module when an error is detected in two or more channels among multiple channels.

According to the present invention as described above, by using the RTOS-based health monitor function that supports the ARINC 653, by performing the troubleshooting for each operating system of the flight control computer system separated into a plurality of hardware structure, a part of the flight control computer system Even if the hardware is changed, the RTOS-based health monitor function continuously detects the error by executing the troubleshooting for each hardware operating system of the flight control computer system, thereby detecting the fatal error that may occur in the actual flight of the aircraft. There is an effect that can be prevented in advance.

According to the present invention as described above, each operating system of a hardware structure separated into several flight control computer system using the RTOS-based health monitor function to diagnose the failure by different error actions according to the error level for each flight control computer system It also has the effect of maximizing operation stability and reliability.

1 is an explanatory diagram illustrating a conventional flight control computer system equipped with a fault diagnosis function.
2 is an explanatory diagram schematically illustrating an embodiment of a flight control computer system with a fault diagnosis function;
3 is an explanatory diagram schematically illustrating another embodiment of the flight control computer system according to the present invention;
4 is a flowchart of the present invention.

Hereinafter, a preferred embodiment of a flight control computer system equipped with a fault diagnosis function according to the present invention will be described with reference to the accompanying drawings.

However, the present invention is not limited to the embodiments described herein but may be embodied in other forms. Rather, the embodiments disclosed herein are provided so that the disclosure can be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Like numbers refer to like elements throughout. It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In this specification, the singular forms also include the plural unless specifically stated otherwise in the text. The term " comprises " And / or "comprising" does not exclude the presence or addition of one or more other elements, steps, operations, and / or elements.

Example

2 is an explanatory diagram schematically illustrating an embodiment of a flight control computer system equipped with a failure diagnosis function, and FIG. 3 is an explanatory diagram schematically illustrating another embodiment of a flight control computer system according to the present invention. 4 is a flowchart of the present invention.

2, the flight control computer system with a failure diagnosis function according to an embodiment of the present invention,

A flight control CPU module (1) for controlling the flight of the aircraft by an OFP and an embedded operating system for flight control of the aircraft;

A mission control CPU module (2) which is hardwarely separated from the flight control CPU module (1) and controls the mission of the aircraft by the OPF and the built-in operating system;

A signal processing CPU module (3) which is hardwarely separated from the flight control CPU module (1) and the mission control CPU module (2) and processes various command signals and control signals by the OPF and the built - in operating system;

The aircraft actuators 4A-N for executing the automatic flight control by driving various electronic equipments and mechanical devices of the aircraft by the flight control CPU module 1, the mission control CPU module 2 and the signal processing CPU module 3, Wow;

A detection sensor 5A-N for detecting the state value of the aircraft actuator 4A-N, which is installed on one side of the aircraft actuators 4A-N and executed by an instruction of the operating system mounted on each of the CPU modules 1 to 3, N);

It is installed in the form of a middleware module between the CPU module (1 ~ 3) and the aircraft actuators (4A-N) and forms each of the CPU module (1 ~ 3) and the multi-channel (6A-C), for example, triple channel, The operating system (OS) of each of the CPU modules 1 to 3 is executed on the basis of the status value of the aircraft actuators 4A-N transmitted from the detection sensors 5A-N through the multi-channels 6A-C by executing the monitor function. And a failure diagnosis module (7) for diagnosing the error and outputting the error result information.

Here, the failure diagnosis module 7 has a built-in RTOS-based Health-Monitor function that supports the middleware ARINC 653.

In addition, the flight control CPU module 1, the mission control CPU module 2, and the signal processing CPU module 3 may further include memories and buffers therein via bus lines.

The fault diagnosis module 7 can be used to diagnose an error of an operating system (OS) of each of the CPU modules 1 through 3 over a plurality of channels by using multiple channels 6A-C, for example, When an error is detected, the corresponding channel is invalidated, and when an error is detected in two of the triple channels, the operating system (OS) of each of the CPU modules 1 to 3 is initialized.

Here, the multiple channels 6A-C are configured such that each channel transmits and receives a command control signal of a corresponding operating system and a response signal thereof between an operating system (OS) of each of the CPU modules 1 to 3 and an aircraft actuator 4A-N It acts as a channel to monitor the status.

In addition, the fault diagnosis module 7 includes a color graphic form of error detection contents when an error is detected for the OS of the CPU modules 1 to 3 according to an alarm display control signal provided from the fault diagnosis module 7. It is further provided with an alarm display unit 8 for processing on the MFD (multifunctional display; not shown) provided in the aircraft cockpit.

On the other hand, the flight control computer system 9 according to the present invention is also equipped with each of the flight control CPU module 1, the mission control CPU module 2 and the signal processing CPU module 3, as shown in FIG. An auxiliary storage medium 10 for storing an operating system (OS) of the same type as the operating system (OS);

After analyzing the error result information of the operating system (OS) of each CPU module (1 ~ 3) transmitted from the failure diagnosis module (7) to the operating system (OS) of the corresponding CPU module (1 ~ 3) where an error occurred It further includes an error forced removal module 11 for interrupting the operation and at the same time loading the same operating system (OS) from the auxiliary storage medium 10 to the corresponding CPU module (1 to 3) for forced switching.

Furthermore, the flight control computer system 9 according to the invention is another embodiment, as shown in FIG. 3.

An auxiliary storage medium (10) for storing an operating system (OS) of the same type as each operating system (OS) mounted on the flight control CPU module 1, the mission control CPU module 2, and the signal processing CPU module 3;

Auxiliary CPU module 12 for selectively loading any one of the operating system (OS) of the same type as the operating system (OS) mounted on each of the CPU module (1 ~ 3) to execute in a redundant (active, standby) form of operation )and;

The auxiliary CPU module 12 is controlled to be loaded by selecting one of the operating system (OS) of the same type as the operating system (OS) of each CPU module (1 ~ 3) for redundancy operation and flight control computer system (9) It further includes a redundancy control module 14 for receiving and processing the redundancy control signal from the control module 13 of.

Next, the control method of the present invention having the above-described configuration will be described.

According to the method of the present invention, as shown in FIG. 4, in the initial state S1, a failure diagnosis module configures a multi-channel for failure diagnosis between each CPU module provided in the flight control computer system and the aircraft actuator. S2);

After the first step (S2), the failure diagnosis module executes the health monitor function and based on the state value of the aircraft actuator transmitted from the detection sensor installed on the actuator through the preconfigured multi-channel operating system (OS) of each CPU module. A second step (S3) of diagnosing an error and outputting the error result information;

If the error diagnosis module detects an error of an operating system (OS) of each CPU module during the second process (S3), and if an error is detected only in one channel of the connected multiple channels, the corresponding module is included. On the other hand, if an error is detected in two or more channels of the multi-channel includes a third process (S4) for initializing all the operating system (OS) of each CPU module.

In the third step (S4), when the fault diagnosis module detects an error of the operating system (OS) of each CPU module, the error detection content is processed into a color graphic form and displayed on an MFD (multifunctional display) provided in the cockpit of the aircraft. The fault diagnosis and repayment display step further comprises.

In addition, in the third step (S4), the error forced removal module analyzes error result information of the operating system (OS) of each CPU module transmitted from the failure diagnosis module, and then transmits the error to the operating system (OS) of the corresponding CPU module. At the same time, the operation for removing the forced operating system (OS) from the auxiliary storage medium from the auxiliary storage medium to the CPU module and the forced forced switching to remove the error.

Furthermore, in the third process (S4), the redundant control module selectively loads one of the operating systems (OS) of the same type as each operating system (OS) mounted on each CPU module and executes the redundant CPU module in a redundant form. It further comprises a selective redundancy execution step.

In other words, the flight control computer system 9 to which the present invention is applied executes the flight control of the aircraft by the OFP that is mounted. In this process, the flight control CPU module 1, the mission control CPU module 2, The signal processing CPU modules 3 execute the flight control of the aircraft set by the instruction given by the OFP by the operating system (OS) each built therein.

At this time, a multi-channel 6A-C, for example, a triple channel is formed between the CPU modules 1 to 3 and the aircraft actuators 4A-N for fault diagnosis, and middleware on the multi-channel 6A-C. The failure diagnosis module 7 is installed in the form of a module. The detection sensor 5A-N provided on one side of the aircraft actuators 4A-N detects the state of the aircraft actuator 4A-N, which is executed by an instruction of the operating system mounted on each of the CPU modules 1 to 3 And transmits the detected value to the fault diagnosis module 7.

In the meantime, the fault diagnosis module 7 executes an RTOS-based Health-Monitor function that supports ARINC 653, for example, middleware, and the actuator 4A-N through a preconfigured multi-channel 6A-C. On the basis of the status values of the aircraft actuators 4A-N transmitted from the detection sensors 5A-N installed on the above, an error of the operating system (OS) of each of the CPU modules 1 to 3 is diagnosed and the error result The information is output to the MFD (not shown) and the alarm display unit 8. Then, the alarm display unit 8 processes the error detection contents in the color graphic form upon error detection of the operating system (OS) of the CPU modules 1 to 3 in accordance with the alarm display control signal provided from the failure diagnosis module 7. On the MFD (not shown) provided in the aircraft cockpit.

Here, during the above-described fault diagnosis process, when the fault diagnosis module 7 diagnoses an error of the operating system (OS) of each CPU module 1 to 3 and the error is detected only in one of the connected multiple channels, By inventing the channel and initializing the operating system (OS) of each CPU module (1 ~ 3) when an error is detected in two or more channels among the multiple channels, the aircraft is actually operated by an error of the operating system. It eliminates the risk of falling during the flight.

In addition, during the operating system error diagnosis process as described above, the error forced removal module 11 analyzes the error result information of the operating system (OS) of each CPU module (1-3) transmitted from the failure diagnosis module (7). Interrupting operation of the operating system (OS) of the CPU module (1 to 3) where an error occurred and simultaneously loading the same operating system (OS) from the auxiliary storage medium 10 to the CPU module (1 to 3). You can also force the transfer.

For example, the failure diagnosis module 7 is connected to the operating system mounted on the flight control CPU module 1, the mission control CPU module 2 and the signal processing CPU module 3 through the multi-channels 6A-C. If an error occurs in the operating system of the mission control CPU module 2 during the failure diagnosis for the error notification to the error forced removal module (11). Then, the error forced removal module 11 analyzes the error result information of the operating system (OS) of the mission control CPU module 2 transmitted from the failure diagnosis module 7 and generates the corresponding mission control CPU module ( 2) stop the operation of the operating system (OS) and close the operating system in which the error occurs, and at the same time loading the same operating system (OS) from the auxiliary storage medium 10 to the corresponding task control CPU module (2) It will force the switchover and rerun the newly loaded operating system.

Furthermore, in the above-described fault diagnosis process of the present invention, the redundancy function can be executed by another embodiment of the present invention.

That is, when it is necessary to selectively duplicate the operating system of each CPU module (1 ~ 3) during the above-described failure diagnosis process, for example, when performing the failure diagnosis by dualizing the flight control CPU module (1) flight control computer system The control module 13 of (9) transmits the redundancy control signal to the redundancy control module 14.

Then, the redundant control module 14 loads an operating system (OS) of the same type as the operating system (OS) mounted on the flight control CPU module 1 from the auxiliary storage medium 10 to the auxiliary CPU module 12. Run in redundant form. That is, the operating system currently mounted on the flight control CPU module 1 is operated in an active state, while the operating system mounted on the auxiliary CPU module 12 is operated in a standby state, and then mounted on the flight control CPU module 1. If an error occurs in a given operating system, it immediately switches over to the operating system mounted on the auxiliary CPU module 12 in the standby state, and executes flight control of the aircraft normally.

Therefore, according to the present invention as described above, by using the RTOS-based health monitor function that supports the ARINC 653, by performing the troubleshooting for each operating system of the flight control computer system separated into a plurality of hardware structure, flight control computer system Even if some hardware is changed, the RTOS-based health monitor function continuously detects the error by executing the diagnostics for each hardware operating system of the flight control computer system in advance so that the fatality of the actual flight of the aircraft Errors can be prevented beforehand.

1: Flight control CPU module 2: Mission control CPU module
3: Signal processing CPU module 4A-N: Actuator
5A-N: Detection sensor 6A-C: Multi-channel
7: Fault Diagnosis Module 8: Alarm Display
9: flight control computer system 10: auxiliary storage medium
11: Error forced removal module 12: Auxiliary CPU module
13: control module 14: redundant control module

Claims (9)

1. A flight control computer system for controlling an aircraft actuator by an OFP and an operating system including a flight control CPU module, a mission control CPU module, and a signal processing CPU module,
A detection sensor installed at one side of the aircraft actuator and detecting a state value of an aircraft actuator executed by an instruction of an operating system mounted on each of the CPU modules;
It is installed in the form of a middleware module between each CPU module and the aircraft actuator, forms a multi-channel with each CPU module, and executes the health monitor function based on the state value of the aircraft actuator transmitted from the detection sensor through a plurality of channels. A flight control computer system having a failure diagnosis function including a failure diagnosis module for diagnosing an error of an operating system (OS) of a CPU module and outputting error result information. The method of claim 1,
The fault diagnosis module is a flight control computer system with a fault diagnosis function, characterized in that the built-in RTOS-based Health-Monitor function to support the middleware ARINC 653. The method of claim 1,
According to the alarm display control signal provided from the fault diagnosis module, the fault diagnosis module processes an error detection content in a color graphic form when an error is detected in the operating system (OS) of the CPU module, and displays an alarm on the MFD provided in the cockpit of the aircraft. Flight control computer system with a failure diagnosis function, characterized in that the display is provided. The method of claim 1,
The flight control computer system includes: an auxiliary storage medium for storing an operating system (OS) of the same type as each operating system (OS) mounted on the flight control CPU module, the mission control CPU module, and the signal processing CPU module;
After analyzing the error result information of the operating system (OS) of each CPU module transmitted from the failure diagnosis module, the operation of the operating system (OS) of the CPU module in which the error occurred is stopped and the same operating system The flight control computer system with a failure diagnosis function, characterized in that it further comprises an error forced removal module for forcing the transfer to the CPU module from the auxiliary storage medium. The method of claim 1,
The flight control computer system includes: an auxiliary storage medium for storing an operating system (OS) of the same type as each operating system (OS) mounted on the flight control CPU module, the mission control CPU module, and the signal processing CPU module;
An auxiliary CPU module for selectively loading any one of an operating system (OS) of the same type as each operating system (OS) mounted on each of the CPU modules and executing the redundant operation;
Selecting one of the operating system (OS) of the same type as the operating system (OS) of each CPU module to the secondary CPU module to be loaded for redundancy operation to control and receives the redundant function control signal from the control module of the mission computer Flight control computer system with a failure diagnosis function, characterized in that it further comprises a redundant control module. A first process of the fault diagnosis module of the flight control computer system configuring a multiple channel for fault diagnosis between each CPU module and the aircraft actuator;
After the first process, the fault diagnosis module executes the health monitor function and based on the state value of the aircraft actuator transmitted from the detection sensor installed on the actuator through the preconfigured multi-channels. A second step of diagnosing the error and outputting the error result information;
If the fault diagnosis module diagnoses an error of an operating system (OS) mounted in each CPU module during the second process, if an error is detected only in one channel of the connected multiple channels, the corresponding channel is included. And a third process of initializing all operating systems of each CPU module when an error is detected in two or more channels among the multiple channels. The method according to claim 6,
In the third step, when the fault diagnosis module detects an error of the operating system (OS) of each CPU module, the fault detection process displays the error detection content in a color graphic form and displays it on the MFD (multifunctional display) provided in the aircraft cockpit. A control method of a flight control computer system with a fault diagnosis function, characterized in that it further comprises a display step. The method according to claim 6,
In the third process, the error forced removal module analyzes the error result information of the operating system (OS) of each CPU module transmitted from the failure diagnosis module, and then stops operating the operating system (OS) of the corresponding CPU module in which an error has occurred. And an error forced elimination step of forcibly transferring the same operating system (OS) from the auxiliary storage medium to the corresponding CPU module. The method according to claim 6,
In the third process, the redundant control module selectively loads any one of the operating systems (OS) of the same type as each operating system (OS) mounted on each CPU module, and executes it in a redundant form by loading it on the auxiliary CPU module. Control method of a flight control computer system with a failure diagnosis function, characterized in that it further comprises.

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