基于相似余度飞控计算机内核的单片机仲裁机制研究  

Research of Arbitration Mechanism Based on Single Chip Microcomputer in the Core of a Similar Redundancy Flight Control Computer

作　　者：李志宇[1] 居晓[2] 高艳辉[1] 

机构地区：[1]南京航空航天大学无人机研究院,南京210016 [2]南京航空航天大学自动化学院,南京210016

出　　处：《计算机测量与控制》2013年第12期3359-3361,3367,共4页Computer Measurement &Control

基　　金：江苏省科技支撑计划项目(BE2010190)

摘　　要：为有效解决无人机多余度飞控计算机结构复杂、体积大、成本高等问题,提出了一种在相似二余度飞控计算机内核中引入单片机仲裁机制的研究方法;重点描述相似余度结构中基于单片机的仲裁和切换电路的原理、结构,详细分析了对故障信号的监控流程和仲裁算法;仿真结果表明,基于最小二乘分段估计的仲裁算法精度较高且运算速度快,每周期参数估计值与实测值误差符合仲裁精度要求;经验证飞控计算机内核工作稳定且故障容错能力得到了有效提高,为无人机飞控计算机内核的小型化设计提供了参考。Aiming at solving the problems such as complexity, big volume and heavy cost of the multi--redundancy flight control comput- er （FCC） that occur in UAV, a method that using arbitration mechanism based on single chip microcomputer （SCM） in the core of a similar redundancy FCC is presented. The basic principles and frame of arbitration and switching circuit are fully specified. At last, the monitoring flow and arbitration algorithm for fault diagnose are analyzed in detail. Results of simulation show that the arbitration algorithm based on least square method has a high accuracy and calculation speed. The error between real and estimated value is in an acceptable range. The working performance of FCC is stable and its fault tolerant ability is effectively improved. It provides a good reference for the miniaturization of similar redundancy FCC.

关 键 词：单片机 仲裁机制 相似余度 无人机 

分 类 号：TP302.8[自动化与计算机技术—计算机系统结构]