飞行控制计算机双机热备份技术研究
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摘要
长航时无人机的重要性尤其在军事上已经得到国内外的高度重视，其核心飞行控制计算机(以下简称“飞控计算机”)的可靠性问题变的日益突出，对其容错研究成为当今的热点。本文主要对利用双机热备份技术来提高飞控计算机可靠性这一方案进行了前期研究。该技术在我国无人机普遍使用的PC／104体系结构作为平台的飞控计算机上实施，只需增加少量的硬件资源和软件模块就可以大大提高飞控计算机的可靠性。该方法实施简单，易移植和工程化，具有较好的通用性，为提高飞控计算机可靠性提供了一种途径。
首先，利用容错原理和方法，通过比较和结合实际，确定了以双机热备份飞控计算机的容错方案，并完成总体框架设计；
第二，采用组合模型理论对双机热备份飞控计算机进行可靠性理论分析；
第三，根据容错计算机总体框架完成双机热备份硬件模块设计，包括通讯模块和输入／输出切换电路模块硬件设计；
第四，根据容错计算机总体框架和硬件完成双机热备份软件模块设计；
最后，利用双机热备份技术在样例飞控计算机上进行容错设计，包括硬件和软件模块移植，然后对其效果进行分析得出此方案是确实可行的。
Most countries in the world attach importance to the use of Long-time UAV (unmanned aerial vehicle) in the military. The kernel question of Long-time UAV is how to improve the reliability of flight control computer. The research of how to improve the reliability of flight control computer has became more and more important today. The paper studies the project of improving the reliability of flight control computer by using the Dual CPU Hot-redundancy technology. We implement the Dual CPU Hot-redundancy technology into the common UAV which used PC/104 in our country. The reliability of flight control computer can be improved rapidly only if we increase a little hardware and software by the Dual CPU Hot-redundancy technology. The method can be used for many flight control computers easily. The Dual CPU Hot-redundancy technology became a method to improve the reliability of flight control computer.
Firstly, we complete the design of the Dual CPU Hot-redundancy Flight Control System project by the comparison of fault-tolerant projects.
Secondly, we analyze the reliability of the Dual CPU Hot-redundancy Flight Control System by the Combined Model Theory in this paper.
Thirdly, the hardware design of Dual CPU Hot-redundancy is completed with in this paper, which is based on the project. The hardware includes dual-port RAM and I/O switch electric circuit.
Fourthly, the software design of Dual CPU Hot-redundancy is completed with in this paper, which is based on the project and hardware.
Finally, the fault-tolerant design adopts the technology of Dual CPU Hot-redundancy in the sample UAV. The result shows that the design is conscientiously feasible in project by the analysis effect of the sample UAV.
首先，利用容错原理和方法，通过比较和结合实际，确定了以双机热备份飞控计算机的容错方案，并完成总体框架设计；
第二，采用组合模型理论对双机热备份飞控计算机进行可靠性理论分析；
第三，根据容错计算机总体框架完成双机热备份硬件模块设计，包括通讯模块和输入／输出切换电路模块硬件设计；
第四，根据容错计算机总体框架和硬件完成双机热备份软件模块设计；
最后，利用双机热备份技术在样例飞控计算机上进行容错设计，包括硬件和软件模块移植，然后对其效果进行分析得出此方案是确实可行的。
Most countries in the world attach importance to the use of Long-time UAV (unmanned aerial vehicle) in the military. The kernel question of Long-time UAV is how to improve the reliability of flight control computer. The research of how to improve the reliability of flight control computer has became more and more important today. The paper studies the project of improving the reliability of flight control computer by using the Dual CPU Hot-redundancy technology. We implement the Dual CPU Hot-redundancy technology into the common UAV which used PC/104 in our country. The reliability of flight control computer can be improved rapidly only if we increase a little hardware and software by the Dual CPU Hot-redundancy technology. The method can be used for many flight control computers easily. The Dual CPU Hot-redundancy technology became a method to improve the reliability of flight control computer.
Firstly, we complete the design of the Dual CPU Hot-redundancy Flight Control System project by the comparison of fault-tolerant projects.
Secondly, we analyze the reliability of the Dual CPU Hot-redundancy Flight Control System by the Combined Model Theory in this paper.
Thirdly, the hardware design of Dual CPU Hot-redundancy is completed with in this paper, which is based on the project. The hardware includes dual-port RAM and I/O switch electric circuit.
Fourthly, the software design of Dual CPU Hot-redundancy is completed with in this paper, which is based on the project and hardware.
Finally, the fault-tolerant design adopts the technology of Dual CPU Hot-redundancy in the sample UAV. The result shows that the design is conscientiously feasible in project by the analysis effect of the sample UAV.
引文
[1] (日)猪濑著，尤国峻，肖俊远译 《计算机系统高可靠技术》 北京 国防工业出版社1985
[2] D.K. Pradhan. Fault Tolerant Computing: Theory and Techniques. Prentice-Hall, 1986
[3] 赵志敏 殷小贡 《实时双机容错系统的双机切换及同步控制》 计算机工程第24卷第5期1998
[4] Krishna C and Shin K. On Scheduling Tasks with a Quick Recovery from Failure. IEEE Trans. Computer. May, 1986, C-35: 448-454
[5] Li Weihua and Yuan Youguang. Dynamic Redundancy at Task Level. 89JFTCS, China. July, 1989. 76-79
[6] S.Ghosh,R.Melhem,and D.Mosse, Fault-tolerance through scheduling of aperiodic tasks in hard real-time multiprocessor systems IEEE Trans. Parallel and Distributed Systems, vol. 8, no. 3, pp. 272-183, Mar. 1997.
[7] G.Manimaran and C.Siva Ram Murthy, A fault-tolerant dynamic scheduling algorithm for multiprocessor real-time systems and its analysis IEEE Trans. Parallel and Distributed Systems, vol. 9, no. 11, Nov. 1998.
[8] Li Weihua and Yuan Youguang. Error Recovery in a Real-Time Multiprocessor. J. of Comput. Sci.& Technol. 1992, 7(1):83-87
[9] 张明廉《飞行控制系统》 航空工业出版社1994
[10] 沈春林、吕厚宜、许民新、陈佩贞 编译《数字控制系统》北京航空工业出版社1993年7月
[11] 王仁庆 《计算机系统结构》北京 北京航空航天大学出版社1992
[12] 陈廷槐，陈光熙 《数字系统的诊断与容错》北京国防工业出版社1981
[13] J.A.Stankovic and K.Ramamritham, The Spring Kernel: A new paradigm for real-time operating systems, ACMSIGOPS, Operating Systems Review, vol. 23, no. 3, pp. 54-71, July. 1989.
[14] 万盛，夏云程 《无人机单片机控制系统软件容错设计》 南京航空航天大学学报第25卷增刊1993
[15] 袁由光 《实时系统中的可靠性技术》 清华大学出版社，广西科学技术出版社，1995
[16] Levitt K N, et al. Fault-Tolerant Architectures for Integrated Aircraft Electronics Systems. Final Report, NASA, Contract N-17067, Aug. 1983
[17] Randell B. System Structure for Fault Tolerant. IEEE Trans. Software Eng. Mar, 1975. SE-1:220-232
[18] 胡谋主编 《计算机容错技术》 北京 中国铁道出版社1995
[19] B. W. Johnson. Design and Analysis of Fault-Tolerant Digital systems. Addison-Wesley Publishing Company, Inc. 1989
[20] M. Kersken, F. Saglietti. Software Fault Tolerance. Springer-Vertag, 1992
[21] 宋征宇 《双CPU环墙下飞行控制软件的设计》 宇航学报第18卷 第3期1997
[22] J.E. Cooling. Software design for real-time systems. London, Chapman and H11,1991
[23] 马卫华 《飞行控制软件可靠性设计》 航天控制第3期2002
[24] Longbottom R. Computer System Reliability. John Wiley and Sons Ltd.,1980
[25] Shunji Osaki, Toshihiko Nishio. Reliability evaluation of some fault-tolerant
computer architectures. Berlin, Spring-Verlag, 1980
[26] Kaufman A, et al. Mathematic Models for the Study of the Reliability of Systems. Academic Press Inc. 1977
[27] 张云生 《实时控制系统软件设计原理及应用》国防工业出版社1998
[28] 英特尔计算机技术有限公司，北京希望电脑公司译《实时多任务操作系统从书》北京 海洋出版社1993
[29] RTKernel Real-Time Multitasking Kernel User Hand Book. On Time Informatic GMBH, 1991
[30] RTD Finland Oy. DPM104HR Dual Port SRAM Interface Board User's Manual. Helsinki, Finland, 1997
[31] lala P K. Fault Tolerant and Fault Testable Hardware Design. 1985
[32] 范成荣 《数字逻辑诊断与可靠性设计》长沙国防科技大学出版社1986
[33] S.C. Lee, Modern Switching Theory and Digital Design, Prentice-Hall, 1978
[34] Hitt F, Webb J. A fault-tolerant software strategy for digital system. AIAA 84-2646
[35] 易仲芳主编 《80X86微型计算机原理及应用》 电子工业出版社1995
[36] 郦萌 《计算机软件的可靠性》 北京 国防工业出版社，1988
[37] Hopking A L. FTMP-A Highly Reliable Fault-Tolerant Multiprocessor for Aircraft. Proc. Of IEEE, Oct. 1978,66(10):1221-1239
[38] 胡寿松 主编《自动控制原理》北京 国防工业出版社1999年3月
[39] [美]JEAN J. LABROSSE著、邵贝贝译 《μC／OS-Ⅱ-源码公开的实时嵌入式操作系统》 中电力出版社2001
[40] Alice E.Fischer David W.Eggert等著 裘岚 张小芸等译 《C语言程序设计实用教程》 电子工业出版社2001
[41] Wesnsley J, et aI. SIFT. Design and Analysis of a Fault-Tolerant Computer for Aircraft Control. Proc. Of IEEE, Oct. 1978,66:1240-1225
[42] 耿通奋 《集成化仿真设备实时仿真软件设计技术研究》 南京航空航天大学硕士研究生学位论文2003
[2] D.K. Pradhan. Fault Tolerant Computing: Theory and Techniques. Prentice-Hall, 1986
[3] 赵志敏 殷小贡 《实时双机容错系统的双机切换及同步控制》 计算机工程第24卷第5期1998
[4] Krishna C and Shin K. On Scheduling Tasks with a Quick Recovery from Failure. IEEE Trans. Computer. May, 1986, C-35: 448-454
[5] Li Weihua and Yuan Youguang. Dynamic Redundancy at Task Level. 89JFTCS, China. July, 1989. 76-79
[6] S.Ghosh,R.Melhem,and D.Mosse, Fault-tolerance through scheduling of aperiodic tasks in hard real-time multiprocessor systems IEEE Trans. Parallel and Distributed Systems, vol. 8, no. 3, pp. 272-183, Mar. 1997.
[7] G.Manimaran and C.Siva Ram Murthy, A fault-tolerant dynamic scheduling algorithm for multiprocessor real-time systems and its analysis IEEE Trans. Parallel and Distributed Systems, vol. 9, no. 11, Nov. 1998.
[8] Li Weihua and Yuan Youguang. Error Recovery in a Real-Time Multiprocessor. J. of Comput. Sci.& Technol. 1992, 7(1):83-87
[9] 张明廉《飞行控制系统》 航空工业出版社1994
[10] 沈春林、吕厚宜、许民新、陈佩贞 编译《数字控制系统》北京航空工业出版社1993年7月
[11] 王仁庆 《计算机系统结构》北京 北京航空航天大学出版社1992
[12] 陈廷槐，陈光熙 《数字系统的诊断与容错》北京国防工业出版社1981
[13] J.A.Stankovic and K.Ramamritham, The Spring Kernel: A new paradigm for real-time operating systems, ACMSIGOPS, Operating Systems Review, vol. 23, no. 3, pp. 54-71, July. 1989.
[14] 万盛，夏云程 《无人机单片机控制系统软件容错设计》 南京航空航天大学学报第25卷增刊1993
[15] 袁由光 《实时系统中的可靠性技术》 清华大学出版社，广西科学技术出版社，1995
[16] Levitt K N, et al. Fault-Tolerant Architectures for Integrated Aircraft Electronics Systems. Final Report, NASA, Contract N-17067, Aug. 1983
[17] Randell B. System Structure for Fault Tolerant. IEEE Trans. Software Eng. Mar, 1975. SE-1:220-232
[18] 胡谋主编 《计算机容错技术》 北京 中国铁道出版社1995
[19] B. W. Johnson. Design and Analysis of Fault-Tolerant Digital systems. Addison-Wesley Publishing Company, Inc. 1989
[20] M. Kersken, F. Saglietti. Software Fault Tolerance. Springer-Vertag, 1992
[21] 宋征宇 《双CPU环墙下飞行控制软件的设计》 宇航学报第18卷 第3期1997
[22] J.E. Cooling. Software design for real-time systems. London, Chapman and H11,1991
[23] 马卫华 《飞行控制软件可靠性设计》 航天控制第3期2002
[24] Longbottom R. Computer System Reliability. John Wiley and Sons Ltd.,1980
[25] Shunji Osaki, Toshihiko Nishio. Reliability evaluation of some fault-tolerant
computer architectures. Berlin, Spring-Verlag, 1980
[26] Kaufman A, et al. Mathematic Models for the Study of the Reliability of Systems. Academic Press Inc. 1977
[27] 张云生 《实时控制系统软件设计原理及应用》国防工业出版社1998
[28] 英特尔计算机技术有限公司，北京希望电脑公司译《实时多任务操作系统从书》北京 海洋出版社1993
[29] RTKernel Real-Time Multitasking Kernel User Hand Book. On Time Informatic GMBH, 1991
[30] RTD Finland Oy. DPM104HR Dual Port SRAM Interface Board User's Manual. Helsinki, Finland, 1997
[31] lala P K. Fault Tolerant and Fault Testable Hardware Design. 1985
[32] 范成荣 《数字逻辑诊断与可靠性设计》长沙国防科技大学出版社1986
[33] S.C. Lee, Modern Switching Theory and Digital Design, Prentice-Hall, 1978
[34] Hitt F, Webb J. A fault-tolerant software strategy for digital system. AIAA 84-2646
[35] 易仲芳主编 《80X86微型计算机原理及应用》 电子工业出版社1995
[36] 郦萌 《计算机软件的可靠性》 北京 国防工业出版社，1988
[37] Hopking A L. FTMP-A Highly Reliable Fault-Tolerant Multiprocessor for Aircraft. Proc. Of IEEE, Oct. 1978,66(10):1221-1239
[38] 胡寿松 主编《自动控制原理》北京 国防工业出版社1999年3月
[39] [美]JEAN J. LABROSSE著、邵贝贝译 《μC／OS-Ⅱ-源码公开的实时嵌入式操作系统》 中电力出版社2001
[40] Alice E.Fischer David W.Eggert等著 裘岚 张小芸等译 《C语言程序设计实用教程》 电子工业出版社2001
[41] Wesnsley J, et aI. SIFT. Design and Analysis of a Fault-Tolerant Computer for Aircraft Control. Proc. Of IEEE, Oct. 1978,66:1240-1225
[42] 耿通奋 《集成化仿真设备实时仿真软件设计技术研究》 南京航空航天大学硕士研究生学位论文2003