【作者】 叶昕；

【导师】 黄一敏；

【作者基本信息】 南京航空航天大学 ， 控制理论与控制工程， 2004， 硕士

【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。更多还原

【Abstract】 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.更多还原