CN-122001747-A - Data frame double-way mutual coupling checking method for servo mechanism double-redundancy bus communication

CN122001747ACN 122001747 ACN122001747 ACN 122001747ACN-122001747-A

Abstract

The invention relates to the technical field of high-reliability flight control and intelligent fault-tolerant communication, and discloses a data frame double-circuit mutual coupling verification method for servo mechanism double-redundancy bus communication. The method comprises the steps of executing dynamic receiving window starting and self-adaptive adjustment, executing double-communication channel data validity collaborative verification, executing time sequence consistency judgment and valid instruction intelligent selection, executing multi-level exception handling and fault channel positioning, and executing state closed loop feedback and self-adaptive recovery. Therefore, high-integrity identification of the two-channel communication data, accurate positioning of a fault channel, intelligent selection of a control instruction and closed-loop feedback of a communication state can be realized, and the communication robustness, diagnosability and operation continuity of the servo system under complex working conditions are remarkably improved.

Inventors

ZHANG ZIJUN
WANG JUN
GAO YAN
WU XUEQIN
LI JIAWEI
WANG HAOMING
SONG ZHIYI
ZHANG XINYU
ZHANG SHENGNAN

Assignees

北京自动化控制设备研究所

Dates

Publication Date: 20260508
Application Date: 20251229

Claims (7)

1. A data frame dual-way mutual parity method for servo mechanism dual-redundancy bus communication, the method comprising: executing dynamic receiving window starting and self-adaptive adjustment; performing collaborative verification of data validity of a double communication channel, wherein the double communication channel comprises a master channel and a slave channel; performing timing sequence consistency judgment and intelligent selection of effective instructions; Performing multi-stage exception handling and fault channel localization; and executing state closed loop feedback and self-adaptive recovery.
2. The method of claim 1, wherein performing dynamic receive window initiation and adaptation comprises: When any one of the two communication channels receives the first byte valid data and completes the primary frame header identification, a 20ms receiving judgment time window T_window is started, wherein the length of the receiving judgment time window T_window is larger than the flight control instruction period.
3. The method of claim 2, wherein performing dual communication channel data validity collaborative verification comprises: in the receiving judging time window T_window, independent validity verification is carried out on the data packets received by the two communication channels, and whether valid instructions are received or not is judged; if both communication channels receive the effective instruction, entering a time sequence consistency judging flow; If only one communication channel receives the effective instruction, judging that the communication channel is in a single-channel communication mode; if no effective instruction is received by both communication channels, the communication is judged to be interrupted.
4. The method of claim 3, wherein determining whether a valid instruction is received comprises determining that a corresponding communication channel receives a valid instruction if three conditions are met: the frame header 1 is matched with the frame header 2; The data length accords with the protocol regulation; The CRC check passes.
5. The method of claim 4, wherein performing timing consistency discrimination and valid instruction intelligent selection: if the arrival time difference delta t of the effective instructions of the two communication channels is less than or equal to 2ms, determining that the effective instructions of the two communication channels arrive synchronously, and preferentially adopting the effective instructions of the main channel as control instructions for control calculation; If delta t is more than 2ms, the control calculation is performed by adopting the first-arriving effective instruction as the control instruction, and if the time difference between the last-arriving effective instruction and the first-arriving effective instruction is more than 10ms, the effective instructions of the two communication channels are determined to be cross-period data, and the last-arriving effective instruction is discarded.
6. The method of claim 5, wherein multiple levels of exception handling and fault channel localization are performed: If only one communication channel receives the effective instruction, the received effective instruction is used as a control instruction for control calculation, the communication channel which does not receive the effective instruction is marked as abnormal communication, and the corresponding channel number is reported; if the effective instruction is not received by the same communication channel for N times, the continuous communication interruption alarm is triggered to support the flight control system to start redundancy switching.
7. The method of claim 6, wherein the state closed loop feedback and adaptive recovery is performed: All communication states are reported in real time through a multi-level state word, wherein the communication states comprise a communication mode, a fault channel identifier, a current valid instruction source, a data retention mark and abnormal duration times, and the communication mode comprises a double-channel normal state, a single-channel abnormal state and a communication interrupt state.

Description

Data frame double-way mutual coupling checking method for servo mechanism double-redundancy bus communication Technical Field The invention relates to the technical field of high-reliability flight control and intelligent fault-tolerant communication, in particular to a data frame double-circuit mutual coupling verification method for servo mechanism double-redundancy bus communication. Background In modern high-reliability flight control systems, the servo mechanism is used as a core unit for executing the action of the control surface, and the integrity, instantaneity and anti-interference capability of the control instruction directly determine the flight safety. In order to improve the fault tolerance of the system, a dual redundancy control architecture or even a multiple redundancy control architecture is generally adopted, and a communication link is used as a neural center, so that the reliability is particularly critical. The current mainstream servo system adopts a double-circuit RS-485 bus to realize instruction redundancy reception, and a typical scheme comprises the following steps: 1. and a main and standby switching mode, namely using a main channel by default, and switching to a standby channel after abnormality. However, the switching has a dead zone, and whether the switching is instantaneous interference or not cannot be judged, so that error switching or hysteresis response is easy to cause; 2. the dual-channel independent receiving and selecting method is used for 'getting early', 'getting new' or 'polling', but lacks of joint judgment on the synchronism, consistency and integrity of dual-channel data, and is easy to misjudge due to the difference of channel delay; 3. simple parallel receiving and CRC check, wherein the method only depends on single-channel validity, a cooperative verification mechanism between channels is not established, and accurate positioning of a fault channel cannot be realized; 4. The hardware comparison circuit realizes the double-channel data comparison through the FPGA or the special logic chip, and has high reliability, but has high cost and poor flexibility, and is difficult to adapt to multi-model and multi-protocol scenes. However, under the complex electromagnetic environment or line fault condition, the above communication method has the problems of lack of timing collaborative analysis (for example, simple "early" or "new" after dual-channel reception, without considering data synchronism and integrity), inaccurate abnormal reporting (for example, only reporting "communication abnormality", unable to locate a specific fault channel), passive recovery strategy (for example, no active resynchronization and status feedback mechanism, unfavorable for system level reconstruction), and the like. Therefore, there is a need for an intelligent, fine and extensible dual-redundancy communication guarantee mechanism, which can realize high-reliability receiving of communication data, accurate fault identification and self-adaptive system recovery under the working conditions of complex electromagnetic environment, line jitter, connector looseness and the like. Disclosure of Invention The invention aims to overcome the defects of the prior art, and provides a data frame double-way mutual coupling checking method for servo mechanism double-redundancy bus communication, which can solve the problems in the prior art. The technical scheme of the invention is that the data frame double-way mutual-coupling checking method for the double-redundancy bus communication of the servo mechanism comprises the following steps: executing dynamic receiving window starting and self-adaptive adjustment; performing collaborative verification of data validity of a double communication channel, wherein the double communication channel comprises a master channel and a slave channel; performing timing sequence consistency judgment and intelligent selection of effective instructions; Performing multi-stage exception handling and fault channel localization; and executing state closed loop feedback and self-adaptive recovery. Preferably, performing dynamic receive window initiation and adaptation comprises: When any one of the two communication channels receives the first byte valid data and completes the primary frame header identification, a 20ms receiving judgment time window T_window is started, wherein the length of the receiving judgment time window T_window is larger than the flight control instruction period. Preferably, performing the dual communication channel data validity cooperative verification includes: in the receiving judging time window T_window, independent validity verification is carried out on the data packets received by the two communication channels, and whether valid instructions are received or not is judged; if both communication channels receive the effective instruction, entering a time sequence consistency judging flow; If only one communication channel receive