高可靠三余度数字式作动器控制器设计与实现  

Design and realization of high reliability tri-redundancy digital actuator controller

作　　者：靳红涛[1] 焦宗夏[1] 王少萍[1] 韩鹏霄[2] 

机构地区：[1]北京航空航天大学自动化科学与电气工程学院,北京100083 [2]公安部第一研究所,北京100083

出　　处：《北京航空航天大学学报》2006年第5期548-552,共5页Journal of Beijing University of Aeronautics and Astronautics

基　　金：北京市自然基金资助项目(4012009)

摘　　要：对作动器控制器进行了三余度配置,介绍了冗余作动器控制器的结构、余度配置以及余度管理.结合数字式伺服作动系统的结构特点,提出了一种借助通道内控制器互监测实现通道内自监测的方法.借助比较监控、传感器自监控、通道内自监控等其它监控方法,对三余度数字式系统有效地实现了二次故障工作、三次故障安全.和其他冗余方案相比结构更简单、基本可靠性更高.基于高速数字处理器和CAN(ControllerAreaNetwork)总线开发了三余度数字式伺服作动器控制器.基于马尔可夫模型,考虑系统一次故障覆盖率、二次故障覆盖率对控制器可靠性进行了分析,该三余度控制器具有很高的可靠性.To attain a high reliability, controller of the servo actuating system was developed with tri-redundancy. CCDL（cross channel data link）, synchronization between different channels, setting voting/monitoring plane and other key technologies of redundancy were presented. A method of self-monitoring of one channel by the inter-monitoring of two controllers was presented. By comparison monitoring, self-monitoring and cross-monitoring, two failures-operation and three failures-safety of the tri-redundancy system were realized effectively. The redundancy scheme is simplified while the basic reliability is higher compared with other redundancy schemes. The tri-redundancy digital actuator controller was developed based on the technologies of high-speed DSP（digital signal processor） and CAN （controller area network） bus. Taking into account of coverage percentage of one fault and two faults, reliability of the controller was analyzed based on the Markov model, analysis shows that the system has a high reliability.

关 键 词：余度 可靠性 数字控制系统 CCDL 马尔可夫模型 

分 类 号：TP302.8[自动化与计算机技术—计算机系统结构]