【作者】 万宗杰；

【导师】 孙汉旭； 贾庆轩；

【作者基本信息】 北京邮电大学 ， 检测技术及自动化装置， 2008， 硕士

【摘要】 随着微型计算机、嵌入式计算机技术的发展及其在航天、医疗和军事等领域的广泛应用,计算机控制系统的可靠性矛盾日益突出。许多应用越来越要求系统能在更长的时间里稳定可靠地运行。软件系统具有复杂性、抽象性和逻辑性。软件系统可靠性设计成为软件系统的研究重点。而星上软件控制系统可靠性是航天技术中的重要研究方向之一,是航天软件的重要质量评价指标。本文以空间机器人系统为研究背景,对空间机器人软件控制系统容错技术进行了讨论和研究,给出了理论分析和具体设计策略。软件平台采用VxWorks强实时嵌入式操作系统,在分析软件的容错技术与应用基础上研究了在空间环境下软件容错设计的策略与实现方法。论文首先介绍了空间机器人和软件可靠性在国内外的研究现状和发展趋势,简单介绍了软件运行硬件平台、Vxworks操作系统和系统基本组成结构。其次,论文详细分析了故障避免策略、故障屏蔽策略和故障恢复策略等三类软件容错策略的原理,比较了几种容错技术的利与弊,同时分析了空间机器人的实际运行环境和需求,运用信息冗余、软件冗余、N文本结构冗余、故障恢复技术等相关理论,在此基础上建立本文的以操作系统、功能层、应用层为层次结构,多种容错技术相结合的容错体系。针对操作系统内存分配效率和内存碎片等可靠性问题,本文对操作系统的内存管理进行了功能扩展,运用故障避免策略原理,消除了操作系统本身的安全隐患。应用软件采用模块化、层次式容错设计,降低系统容错复杂度;功能层采用重点模块3版本结构冗余,保证模块出口数据的可靠性;应用层采用后向恢复技术保证上层任务流程的完成。最后,对空间机器人软件容错的主要指标进行了性能测试。测试结果证明了其可行性。更多还原

【Abstract】 Along with the development of microcomputer and embedded computer technology, along with microcomputer and embedded computer technology’s widespread uses in such as astronautics, medical service and military, computer control system’s reliability contradictory has gone into prominent day by day. Many applications request the system to be able more and more to move reliably and stably in a longer time.The software system has characteristics of complexity, abstractness and logic. Software system reliability design has become software system’s research key. But the reliability of software control system on the star is one of important research directions in space technology, is astronautics software’s important quality rating target.This article take the space robot assembly system as the research background, has carried on the discussion and the research to the fault-tolerant technology of spatial robot software control system, has given the theoretical analysis and the concrete design strategy. The software platform uses the VxWorks strong real-time embedded operating system, studies the software fault-tolerant design strategy and method under the space environment after analyzing software’s fault-tolerant technology and the application.The paper first introduced the spatial robot and the software reliability’s research present situation and the trend of development in the domestic and overseas, and introduced the software movement hardware platform, the Vxworks operating system and its basic composition structure simply.Next, the multianalysis breakdown has avoided the strategy, the fault masking strategy and the breakdown restores the strategy and so on three kind of software fault-tolerant strategies the principle, compared several kinds of fault-tolerant technology’s advantages and shortcomings, and simultaneously analyzed the spatial robot’s actual movement environment and the demand, using the information redundancy, the software redundancy, the N text structure redundancy, the breakdown restores the technology and so on correlation theories, based on this establishes this article take the operating system, the function level, the application layer as the hierarchical structure, many kinds of fault-tolerant technologies unify fault-tolerant system.In view of operating system memory allocation efficiency and memory fragment and so on reliable the questions, this article has carried on the function expansion to operating system’s memory management, using the principle of the strategy in avoiding breakdown, eliminated the safe hidden danger in operating system. The application software uses modular, the level type fault-tolerant design, reduced the system fault-tolerant complexity; The function level used the key module 3 edition structure redundancy in order to guarantee outlet data reliability of the module; After the application layer uses, to restores the technology to guarantee the upper formation duty flow completion.Finally, the paper carried on the performance test to the major targets of spatial robot software fault-tolerant. The test result has proven its feasibility.更多还原