星载摆臂控制系统瞬时故障软件容错技术研究
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摘要
红外光谱仪是将成分复杂的光分解为光谱线的科学仪器,可用来得到大气精细成分。随着全球变暖等气候环境的变化导致人类生存条件的逐渐恶化,红外光谱仪的研究也显示出其越来越重要的作用。摆臂控制系统作为傅里叶变换红外光谱仪的核心运动部分,是实现红外干涉、系统采样从而精确获得光谱图的关键。然而,由于星载控制系统处于复杂的空间环境之中,随时可能受到高能粒子和射线等的辐射,从而导致控制系统失效并可能造成灾难性的后果,因此,开发具有容错能力的星载控制系统非常必要。本文对红外光谱仪摆臂控制系统进行了软件容错设计,并通过软件故障注入试验验证了相关容错手段的有效性。
本文首先对星载环境下瞬时故障的软件容错技术进行了综述,对星载环境下瞬时故障的软件容错技术、基于故障注入的软件容错验证技术展开详细的分类介绍。
其次,针对摆臂控制系统对于瞬时故障的容错要求,结合星载瞬时故障造成的系统错误可分为数据错误和控制流错误,对其进行了软件容错设计。并通过设计软件故障注入试验,对涉及到的典型容错方法进行了容错验证。试验结果表明,进行了容错设计的软件系统能对注入的故障实现容错,而未进行容错设计的软件系统则对注入的故障无能为力。
最后,本文设计并实现了一种用于摆臂控制系统容错验证的试验平台,它采用Visual C++设计实现,提供友好的人机交互界面,与下位机配合形成一个完整的试验平台。该平台不仅可以配合进行软件故障注入,还可以实现对控制系统的实时监控,使系统调试更加直观与方便。
Infrared spectrometer, which can be used to obtain atmospheric fine ingredients, is a scientific instrument where light of complex components could be broken down into lines of spectrum. With the global warming and changing of other climate circumstances leading the survival conditions of human worsen, research on infrared spectrometer shows its more and more important role. As the core component of infrared spectroscopy, Swing-arm control system is the key of achieving infrared interference, sampling, and obtaining accurate spectrogram. However, the space-borne control system, which could be affected by high-energy particle and ray of radiation anytime in the complex space surroundings, will become invalid and then may cause disastrous consequences. Therefore, it is necessary to develop the space-borne control system which has the ability of fault tolerance. In this paper, software fault-tolerant is designed in the infrared spectrometer swing-arm control system, and the effectiveness of relevant fault-tolerant means is verified through the software fault inject experiment.
Firstly, the technology of software fault-tolerance for transient faults in space-borne swing-arm control system was summarized. Software fault-tolerance technology and software fault-tolerance verification technology based on fault injection for transient faults in space-borne environment were classified and introduced in detail.
Secondly, the system error caused by the transient faults in the space could be divided into data error and control flow error. Software fault-tolerance design was made according to the fault-tolerance demand for the transient faults, and fault injection experiment software was performed to verify the typical fault-tolerance involved. The results showed that the software system which contained fault-tolerance design was normal after the fault injection, and the system which did not contained fault-tolerance design was abnormal relatively.
Finally, this paper design a test platform used for the fault tolerant verification in the swing-arm control system, a complete test platform was composed by the DSP system and the software which was implemented by Visual C++ and could provide friendly man-machine interface. Fault injection could be implemented and the control system could be monitored in real-time through this platform, it is convenient for the system debugging.
本文首先对星载环境下瞬时故障的软件容错技术进行了综述,对星载环境下瞬时故障的软件容错技术、基于故障注入的软件容错验证技术展开详细的分类介绍。
其次,针对摆臂控制系统对于瞬时故障的容错要求,结合星载瞬时故障造成的系统错误可分为数据错误和控制流错误,对其进行了软件容错设计。并通过设计软件故障注入试验,对涉及到的典型容错方法进行了容错验证。试验结果表明,进行了容错设计的软件系统能对注入的故障实现容错,而未进行容错设计的软件系统则对注入的故障无能为力。
最后,本文设计并实现了一种用于摆臂控制系统容错验证的试验平台,它采用Visual C++设计实现,提供友好的人机交互界面,与下位机配合形成一个完整的试验平台。该平台不仅可以配合进行软件故障注入,还可以实现对控制系统的实时监控,使系统调试更加直观与方便。
Infrared spectrometer, which can be used to obtain atmospheric fine ingredients, is a scientific instrument where light of complex components could be broken down into lines of spectrum. With the global warming and changing of other climate circumstances leading the survival conditions of human worsen, research on infrared spectrometer shows its more and more important role. As the core component of infrared spectroscopy, Swing-arm control system is the key of achieving infrared interference, sampling, and obtaining accurate spectrogram. However, the space-borne control system, which could be affected by high-energy particle and ray of radiation anytime in the complex space surroundings, will become invalid and then may cause disastrous consequences. Therefore, it is necessary to develop the space-borne control system which has the ability of fault tolerance. In this paper, software fault-tolerant is designed in the infrared spectrometer swing-arm control system, and the effectiveness of relevant fault-tolerant means is verified through the software fault inject experiment.
Firstly, the technology of software fault-tolerance for transient faults in space-borne swing-arm control system was summarized. Software fault-tolerance technology and software fault-tolerance verification technology based on fault injection for transient faults in space-borne environment were classified and introduced in detail.
Secondly, the system error caused by the transient faults in the space could be divided into data error and control flow error. Software fault-tolerance design was made according to the fault-tolerance demand for the transient faults, and fault injection experiment software was performed to verify the typical fault-tolerance involved. The results showed that the software system which contained fault-tolerance design was normal after the fault injection, and the system which did not contained fault-tolerance design was abnormal relatively.
Finally, this paper design a test platform used for the fault tolerant verification in the swing-arm control system, a complete test platform was composed by the DSP system and the software which was implemented by Visual C++ and could provide friendly man-machine interface. Fault injection could be implemented and the control system could be monitored in real-time through this platform, it is convenient for the system debugging.
引文
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[7]Vaughan A. H. Imaging Michelson Spectrometer for Hubble Space Telescope[C]. Proceedings of the SPIE-The International Society for Optical Engineering.1989, 1036:2-14.
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[13]李建立.空间辐射环境下软件实现的硬件故障检测技术研究：[硕士学位论文].长沙：国防科学技术大学图书馆,2008.
[14]沈莹,高建华.一种新的软件容错技术——恢复块表决技术[A].第二届中国测试学术会议论文集[C].2002,423-426.
[15]杨孟飞.空间容错计算机的基本问题和对策[J].航天控制,1994,(2)：35-39.
[16]1st International Symposium on Fault-Tolerant Computing[J]. IEEE Transactions on Computers 1971, C-20(11).
[17]Wensley J. H., Lamport, L., Goldberg, J., et al. SIFT:Design and Analysis of a Fault-Tolerant Computer for Aircraft Control[J]. Proceedings of IEEE,1978,66(10): 1240-1255.
[18]Hopkins A. L. FTMP:A Highly Reliable Fault-Tolerant Multiprocessor for Aircraft[J]. Proceedings of IEEE,1978,66(10):1221-1239.
[19]Srivastava D., Narasimhan P. Architectural Support for Mode-Driven Fault Tolerance in Distributed Applications[C]. Proceedings of the 2005 workshop on Architceting dependable systems. ACM SIGSOFT Software Engineering Notes, 2005,30(4):1-7.
[20]Swift M. M., Bershad B. N., Levy H. M. Improving the Reliability of Commodity Operating Systems[J]. ACM Transactions on Computer Systems,2005,23(1): 77-110.
[21]Oh N., Shirvani P. P., Mccluskey E. J. Error Detection by Duplicated Instructions in Super-Scalar Processors[J]. IEEE Transactions on Reliability,2002,51(1):63-75.
[22]Oh N. Software Implemented Hardware Fault Tolerance [Ph. D. Thesis]. Stanford, Calif:Stanford University,2000.
[23]Oh N., Shirvani P. P., Mccluskey E. J. Control-flow checking by software signatures[J]. IEEE Transactions on Reliability,2002,51(1):111-122.
[24]Oh N., Shirvani P. P., Mccluskey E. J. ED4I:Error detection by diverse data and duplicated instructions [J]. IEEE Transactions on Computers,2002,51(2):180-199.
[25]康晓军.星载微机空间抗单粒子加固设计技术研究[J].航天返回与遥感,1999,20(4)：16-18.
[26]Shirvani P. P., Saxena N. R., Mccluskey E. J. Software-implemented EDAC protection against SEUs[J]. IEEE Transactions on Reliability,2000,49(3):273-284.
[27]Reis G. A., Chang J., Vachharajani N., et al. SWIFT:Software implemented fault tolerance[C]. Proceedings of the 2005 International Symposium on Code Generation and Optimization.2005,243-254.
[28]H Hihara, K Yamada, M Adachi, K Mitani. CRAFT:An Experimental Fault Tolerant Computer System For Servis-2 Satellite[C].21st International Communications Satellite Systems Conference and Exhibit.2003,1-7.
[29]Jonathan Chang, George A. Reis, David I. August. Automatic Instruction Level Software-Only Recovery [C]. Proceedings of the International Conference on Dependable Systems and Networks.2006,83-92.
[30]David Walker, Lester W. Mackey, Jay LigaRi, et al. Static typing for a faulty lambda calculus[C]. Proceedings of the ACM SIGPLAN International Conference on Functional Programming, ICFP.2006,2006(2006):38-49.
[31]李剑明.面向星载计算机瞬时故障的软件控制流错误检测技术：[硕士学位论文].长沙：国防科学技术大学图书馆,2009.
[32]李建立,谭庆平,徐建军.一种软件实现的瞬时故障检测方法[A].第23届全国计算机安全学术交流会论文集[C].上海：2008,97-102.
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