无人机飞行控制软件负荷均衡策略设计  

Design of Load Balancing Strategies for UAV Flight Control Software

作　　者：周星宇 李春涛[1] 姚瑞 范影 ZHOU Xing-yu;LI Chun-tao;YAO Rui;FAN Ying(College of Automation, Nanjing University of Aeronautics ＆ Astronautics, Nanjing 210016, China)

机构地区：[1]南京航空航天大学自动化学院,南京210016

出　　处：《电光与控制》2018年第6期25-30,共6页Electronics Optics & Control

摘　　要：针对无人机飞行控制软件功能复杂、实时性要求高等特点,以基于CAN总线的分布式架构的飞行控制计算机为平台,利用软件总线设计了飞行控制软件的静态和动态负荷均衡策略,并对解算节点之间功能模块的迁移方法进行了设计,解决了分布式架构的飞行控制系统中由于节点负载不均衡导致系统运行效率下降和资源浪费的问题,保证了整个系统的持续高效运行。最后进行了实验验证,测试结果表明,两种负荷均衡算法均能准确地进行功能模块调度,具有良好的实时性,提高了分布式架构无人机飞行控制系统的可靠性和安全性。Aiming at the UAV flight control software with complicated functions and high real-time requirements,and taking the flight control computer with distributed architecture based on CAN bus as a platform,we designed the strategies for static and dynamic load balancing by utilizing software bus. In addition,the mechanism of function module migration between the nodes was designed. These methods could solve the problems caused by the load imbalance of nodes in the distributed flight control system,i. e.,declining of operating efficiency and wasting of resources,and guarantee the efficient and continuous operation of the system. Finally,experimental verification was made,and the result showed that： both types of load-balancing algorithms can schedule the functional modules accurately and guarantee the real-time performance,and thus the reliability and security of the distributed flight control system are improved.

关 键 词：无人机 飞行控制软件 软件总线 分布式架构 负荷均衡 

分 类 号：V279[航空宇航科学与技术—飞行器设计] TP273.5[自动化与计算机技术—检测技术与自动化装置]