空间机器人中央控制器可靠性软件容错研究
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摘要
随着微型计算机、嵌入式计算机技术的发展及其在航天、医疗和军事等领域的广泛应用,计算机控制系统的可靠性矛盾日益突出。许多应用越来越要求系统能在更长的时间里稳定可靠地运行。
软件系统具有复杂性、抽象性和逻辑性。软件系统可靠性设计成为软件系统的研究重点。而星上软件控制系统可靠性是航天技术中的重要研究方向之一,是航天软件的重要质量评价指标。
本文以空间机器人系统为研究背景,对空间机器人软件控制系统容错技术进行了讨论和研究,给出了理论分析和具体设计策略。软件平台采用VxWorks强实时嵌入式操作系统,在分析软件的容错技术与应用基础上研究了在空间环境下软件容错设计的策略与实现方法。
论文首先介绍了空间机器人和软件可靠性在国内外的研究现状和发展趋势,简单介绍了软件运行硬件平台、Vxworks操作系统和系统基本组成结构。
其次,论文详细分析了故障避免策略、故障屏蔽策略和故障恢复策略等三类软件容错策略的原理,比较了几种容错技术的利与弊,同时分析了空间机器人的实际运行环境和需求,运用信息冗余、软件冗余、N文本结构冗余、故障恢复技术等相关理论,在此基础上建立本文的以操作系统、功能层、应用层为层次结构,多种容错技术相结合的容错体系。
针对操作系统内存分配效率和内存碎片等可靠性问题,本文对操作系统的内存管理进行了功能扩展,运用故障避免策略原理,消除了操作系统本身的安全隐患。应用软件采用模块化、层次式容错设计,降低系统容错复杂度;功能层采用重点模块3版本结构冗余,保证模块出口数据的可靠性;应用层采用后向恢复技术保证上层任务流程的完成。
最后,对空间机器人软件容错的主要指标进行了性能测试。测试结果证明了其可行性。
Along with the development of microcomputer and embedded computer technology, along with microcomputer and embedded computer technology's widespread uses in such as astronautics, medical service and military, computer control system's reliability contradictory has gone into prominent day by day. Many applications request the system to be able more and more to move reliably and stably in a longer time.
The software system has characteristics of complexity, abstractness and logic. Software system reliability design has become software system's research key. But the reliability of software control system on the star is one of important research directions in space technology, is astronautics software's important quality rating target.
This article take the space robot assembly system as the research background, has carried on the discussion and the research to the fault-tolerant technology of spatial robot software control system, has given the theoretical analysis and the concrete design strategy. The software platform uses the VxWorks strong real-time embedded operating system, studies the software fault-tolerant design strategy and method under the space environment after analyzing software's fault-tolerant technology and the application.
The paper first introduced the spatial robot and the software reliability's research present situation and the trend of development in the domestic and overseas, and introduced the software movement hardware platform, the Vxworks operating system and its basic composition structure simply.
Next, the multianalysis breakdown has avoided the strategy, the fault masking strategy and the breakdown restores the strategy and so on three kind of software fault-tolerant strategies the principle, compared several kinds of fault-tolerant technology's advantages and shortcomings, and simultaneously analyzed the spatial robot's actual movement environment and the demand, using the information redundancy, the software redundancy, the N text structure redundancy, the breakdown restores the technology and so on correlation theories, based on this establishes this article take the operating system, the function level, the application layer as the hierarchical structure, many kinds of fault-tolerant technologies unify fault-tolerant system.
In view of operating system memory allocation efficiency and memory fragment and so on reliable the questions, this article has carried on the function expansion to operating system's memory management, using the principle of the strategy in avoiding breakdown, eliminated the safe hidden danger in operating system. The application software uses modular, the level type fault-tolerant design, reduced the system fault-tolerant complexity; The function level used the key module 3 edition structure redundancy in order to guarantee outlet data reliability of the module; After the application layer uses, to restores the technology to guarantee the upper formation duty flow completion.
Finally, the paper carried on the performance test to the major targets of spatial robot software fault-tolerant. The test result has proven its feasibility.
软件系统具有复杂性、抽象性和逻辑性。软件系统可靠性设计成为软件系统的研究重点。而星上软件控制系统可靠性是航天技术中的重要研究方向之一,是航天软件的重要质量评价指标。
本文以空间机器人系统为研究背景,对空间机器人软件控制系统容错技术进行了讨论和研究,给出了理论分析和具体设计策略。软件平台采用VxWorks强实时嵌入式操作系统,在分析软件的容错技术与应用基础上研究了在空间环境下软件容错设计的策略与实现方法。
论文首先介绍了空间机器人和软件可靠性在国内外的研究现状和发展趋势,简单介绍了软件运行硬件平台、Vxworks操作系统和系统基本组成结构。
其次,论文详细分析了故障避免策略、故障屏蔽策略和故障恢复策略等三类软件容错策略的原理,比较了几种容错技术的利与弊,同时分析了空间机器人的实际运行环境和需求,运用信息冗余、软件冗余、N文本结构冗余、故障恢复技术等相关理论,在此基础上建立本文的以操作系统、功能层、应用层为层次结构,多种容错技术相结合的容错体系。
针对操作系统内存分配效率和内存碎片等可靠性问题,本文对操作系统的内存管理进行了功能扩展,运用故障避免策略原理,消除了操作系统本身的安全隐患。应用软件采用模块化、层次式容错设计,降低系统容错复杂度;功能层采用重点模块3版本结构冗余,保证模块出口数据的可靠性;应用层采用后向恢复技术保证上层任务流程的完成。
最后,对空间机器人软件容错的主要指标进行了性能测试。测试结果证明了其可行性。
Along with the development of microcomputer and embedded computer technology, along with microcomputer and embedded computer technology's widespread uses in such as astronautics, medical service and military, computer control system's reliability contradictory has gone into prominent day by day. Many applications request the system to be able more and more to move reliably and stably in a longer time.
The software system has characteristics of complexity, abstractness and logic. Software system reliability design has become software system's research key. But the reliability of software control system on the star is one of important research directions in space technology, is astronautics software's important quality rating target.
This article take the space robot assembly system as the research background, has carried on the discussion and the research to the fault-tolerant technology of spatial robot software control system, has given the theoretical analysis and the concrete design strategy. The software platform uses the VxWorks strong real-time embedded operating system, studies the software fault-tolerant design strategy and method under the space environment after analyzing software's fault-tolerant technology and the application.
The paper first introduced the spatial robot and the software reliability's research present situation and the trend of development in the domestic and overseas, and introduced the software movement hardware platform, the Vxworks operating system and its basic composition structure simply.
Next, the multianalysis breakdown has avoided the strategy, the fault masking strategy and the breakdown restores the strategy and so on three kind of software fault-tolerant strategies the principle, compared several kinds of fault-tolerant technology's advantages and shortcomings, and simultaneously analyzed the spatial robot's actual movement environment and the demand, using the information redundancy, the software redundancy, the N text structure redundancy, the breakdown restores the technology and so on correlation theories, based on this establishes this article take the operating system, the function level, the application layer as the hierarchical structure, many kinds of fault-tolerant technologies unify fault-tolerant system.
In view of operating system memory allocation efficiency and memory fragment and so on reliable the questions, this article has carried on the function expansion to operating system's memory management, using the principle of the strategy in avoiding breakdown, eliminated the safe hidden danger in operating system. The application software uses modular, the level type fault-tolerant design, reduced the system fault-tolerant complexity; The function level used the key module 3 edition structure redundancy in order to guarantee outlet data reliability of the module; After the application layer uses, to restores the technology to guarantee the upper formation duty flow completion.
Finally, the paper carried on the performance test to the major targets of spatial robot software fault-tolerant. The test result has proven its feasibility.
引文
[1]周新蕾,刘正高 航天软件可靠性安全性技术应用发展趋势 软件工程 2006.3
[2]陈光宇,黄锡滋 软件可靠性科学发展现状及展望 2002(3)
[3]向琳,曲峰 小卫星星务计算机的容错体系结构设计 VOL23 2005
[4]熊有伦等 机器人学 机械工业出版社 1992
[5]李芳华 星载软件可靠性设计方法 上海航天 2003.3
[6]边华,莫季长 软件容错技术与可靠性评估方法 2006.3
[7]董恩强,沈雁,赵合计 强实时环境下的高可靠性技术研究 2006(3)
[8]GJB/Z 102-1997软件可靠性和安全性设汁准则 国防科工委 1997
[9]GJB 437-1988军用软件开发规范 国防科工委 1988
[10]Cai K.Y.A Citical Review on Software Reliability Modeling[J]Reliability Engineering and System Safety Vol.32,1991
[11]Thayer T.,E.Nelson Software Reliability Study[M]RADC2762238 1992
[12]IEEE Standard Dictionary of Measure to Produce Reliable Software(ANSI)[J]IEEE Std-982,1989
[13]Wu Peng Metamorphic Testing and Special Case Testing:A Case Study 软件学报 科学出版社 2005
[14]Algirdas Avizienis The N-Version Approach to Fault-Tolerant Software IEEE Trans on Software Eng.[J]1985
[15]A vizienis The N -Version Approacht Fault-Tolerant Software IEEE Transtraction on Software Engineering Dec1985
[16]M.Berdtsen and J.Huselius Safety-Critical Real-Time Systems On Safety Kernels te chnical report CT3190,2001
[17]徐拾义 可信计算系统设计和分析 清华大学出版社 2006.7
[18]王春华,高宝成,孙汉旭等 基于ATA接口的Flash固态盘文件管理系统设计《计算机技术与发展》VOL.16 2006.10
[19]王仲生 智能容错技术及应用 国防工业出版社 2002.9
[20]邝坚Tornado/VxWorks入门与提高[M]科学出版社2004.11
[21]刘英华,安秀文 计算机软件容错技术 航空电子技术 1997
[22]C.M.Krishna.Kang Shin Real-Time System影印版 清华大学出版社 2001
[23]阳春华,桂卫华,计莉 基于多处理机的混合实时任务容错设计 计算机学报 2003
[24]朱筱菲,黄凤岗 一种基于VxWorks的内存分配算法 工业控制计算机 2006
[25]万逸珠,戚文芽 嵌入式实时操作系统VxWorks的内存管理方案 信息工程大学学报2004
[26]马文涛,郭东亮,张立臣 实时系统的软件容错技术 福建电脑VOL.3,2007
[27]李庆华,韩建军,Abbas A Essa等硬实时系统中基于软件容错的动态调度算法 软件学报VOL.16 2005
[28]孙鹏,赵军锁,张文君 软件容错技术与展望 计算机工程与科学 VOL.29 2007
[29]齐振国 利用冗余技术提高软件容错能力 沈阳师范学院学报 VOL.20 2002
[30]孙鹏,赵军锁,张文君基于RTEMS的软件容错系统设计研究 计算机工程与科学VOL.29 2007
[31]高星,廖明宏,吴翔虎等 基于COTS处理器的微小卫星软件容错策略研究 高技术通信 VOL.17 2007
[32]毕全起 数据的可靠性和软件容错系统的实现 河北师范大学学报 VOL.26 2002
[33]柳长安,李国栋,吴刻河等 自由飞行空间机器人研究综述 机器人 VOL.24 2002
[34]孙汉旭,王凤翔 加拿大、美国空间机器人研究情况 航天技术与民用 1999.4
[35]陈尧,孙汉旭,贾庆轩等 空间机器人冷热双冗余CAN总线系统的研制 2008.3
[36]David W.Eastin Reliability Assessment of a Modern RISC Microprocessor in the Space Radiation Environment April 2003.
[37]Anderson R Building a Modular Robot Control System Using Passivity and Scattering Theory IEEE Proc of Int Conf On Robotics and Automation 1996:698- 705
[38]D.Bernaert,J.Bermyn PROBA(Project for On-Board Autonomy)Proceedings of the International Space University Annual International Symposium 2001
[39]高建华 软件容错控制策略研究 中国纺织大学 1998.9
[40]彭俊杰,洪炳镕,魏振华等 星载系统软件容错技术的研究现状 第十届全国容错计算学术会议 2003.9
[41]Kaufman L M,Dugan J B,Johnson B W Using statistics of the extremes for software reliability analysis[J]IEEE Trans on Reliability,1999,48(3):2922299
[42]Derek Lawson,Gerry Coleman An Investigation into the software fault/ failure relationship and its impact on software reliability[C]The 12~(th)International symposium on software reliability engineering Hong Kong China 2001
[43]Shanthikuman J.G.Software Reliability Models:A Review Microelectronics and Reliability[M]Vol,23,No.25,1993
[44]Michael R L刘喜成,钟婉懿译 软件可靠性工程手册[M]电子工业出版社,1997
[45]蒋乐天,徐国治 软件缺陷及软件可靠性技术[J]计算机仿真 2004
[46]H.Cristian Understanding fault-tolerant distributed systems Communications of the A CM 34(2),1991.
[47]Hoang Pham Software Reliability Springer-Verlag Singapore Pte.Ltd 2000
[48]王志刚 软件容错的前提和基础-避错方法研究[A]第九届全国容错计算学术大会(CFTC2001)论文集[C]2001
[2]陈光宇,黄锡滋 软件可靠性科学发展现状及展望 2002(3)
[3]向琳,曲峰 小卫星星务计算机的容错体系结构设计 VOL23 2005
[4]熊有伦等 机器人学 机械工业出版社 1992
[5]李芳华 星载软件可靠性设计方法 上海航天 2003.3
[6]边华,莫季长 软件容错技术与可靠性评估方法 2006.3
[7]董恩强,沈雁,赵合计 强实时环境下的高可靠性技术研究 2006(3)
[8]GJB/Z 102-1997软件可靠性和安全性设汁准则 国防科工委 1997
[9]GJB 437-1988军用软件开发规范 国防科工委 1988
[10]Cai K.Y.A Citical Review on Software Reliability Modeling[J]Reliability Engineering and System Safety Vol.32,1991
[11]Thayer T.,E.Nelson Software Reliability Study[M]RADC2762238 1992
[12]IEEE Standard Dictionary of Measure to Produce Reliable Software(ANSI)[J]IEEE Std-982,1989
[13]Wu Peng Metamorphic Testing and Special Case Testing:A Case Study 软件学报 科学出版社 2005
[14]Algirdas Avizienis The N-Version Approach to Fault-Tolerant Software IEEE Trans on Software Eng.[J]1985
[15]A vizienis The N -Version Approacht Fault-Tolerant Software IEEE Transtraction on Software Engineering Dec1985
[16]M.Berdtsen and J.Huselius Safety-Critical Real-Time Systems On Safety Kernels te chnical report CT3190,2001
[17]徐拾义 可信计算系统设计和分析 清华大学出版社 2006.7
[18]王春华,高宝成,孙汉旭等 基于ATA接口的Flash固态盘文件管理系统设计《计算机技术与发展》VOL.16 2006.10
[19]王仲生 智能容错技术及应用 国防工业出版社 2002.9
[20]邝坚Tornado/VxWorks入门与提高[M]科学出版社2004.11
[21]刘英华,安秀文 计算机软件容错技术 航空电子技术 1997
[22]C.M.Krishna.Kang Shin Real-Time System影印版 清华大学出版社 2001
[23]阳春华,桂卫华,计莉 基于多处理机的混合实时任务容错设计 计算机学报 2003
[24]朱筱菲,黄凤岗 一种基于VxWorks的内存分配算法 工业控制计算机 2006
[25]万逸珠,戚文芽 嵌入式实时操作系统VxWorks的内存管理方案 信息工程大学学报2004
[26]马文涛,郭东亮,张立臣 实时系统的软件容错技术 福建电脑VOL.3,2007
[27]李庆华,韩建军,Abbas A Essa等硬实时系统中基于软件容错的动态调度算法 软件学报VOL.16 2005
[28]孙鹏,赵军锁,张文君 软件容错技术与展望 计算机工程与科学 VOL.29 2007
[29]齐振国 利用冗余技术提高软件容错能力 沈阳师范学院学报 VOL.20 2002
[30]孙鹏,赵军锁,张文君基于RTEMS的软件容错系统设计研究 计算机工程与科学VOL.29 2007
[31]高星,廖明宏,吴翔虎等 基于COTS处理器的微小卫星软件容错策略研究 高技术通信 VOL.17 2007
[32]毕全起 数据的可靠性和软件容错系统的实现 河北师范大学学报 VOL.26 2002
[33]柳长安,李国栋,吴刻河等 自由飞行空间机器人研究综述 机器人 VOL.24 2002
[34]孙汉旭,王凤翔 加拿大、美国空间机器人研究情况 航天技术与民用 1999.4
[35]陈尧,孙汉旭,贾庆轩等 空间机器人冷热双冗余CAN总线系统的研制 2008.3
[36]David W.Eastin Reliability Assessment of a Modern RISC Microprocessor in the Space Radiation Environment April 2003.
[37]Anderson R Building a Modular Robot Control System Using Passivity and Scattering Theory IEEE Proc of Int Conf On Robotics and Automation 1996:698- 705
[38]D.Bernaert,J.Bermyn PROBA(Project for On-Board Autonomy)Proceedings of the International Space University Annual International Symposium 2001
[39]高建华 软件容错控制策略研究 中国纺织大学 1998.9
[40]彭俊杰,洪炳镕,魏振华等 星载系统软件容错技术的研究现状 第十届全国容错计算学术会议 2003.9
[41]Kaufman L M,Dugan J B,Johnson B W Using statistics of the extremes for software reliability analysis[J]IEEE Trans on Reliability,1999,48(3):2922299
[42]Derek Lawson,Gerry Coleman An Investigation into the software fault/ failure relationship and its impact on software reliability[C]The 12~(th)International symposium on software reliability engineering Hong Kong China 2001
[43]Shanthikuman J.G.Software Reliability Models:A Review Microelectronics and Reliability[M]Vol,23,No.25,1993
[44]Michael R L刘喜成,钟婉懿译 软件可靠性工程手册[M]电子工业出版社,1997
[45]蒋乐天,徐国治 软件缺陷及软件可靠性技术[J]计算机仿真 2004
[46]H.Cristian Understanding fault-tolerant distributed systems Communications of the A CM 34(2),1991.
[47]Hoang Pham Software Reliability Springer-Verlag Singapore Pte.Ltd 2000
[48]王志刚 软件容错的前提和基础-避错方法研究[A]第九届全国容错计算学术大会(CFTC2001)论文集[C]2001