大型民机的非相似余度飞控计算机研究

 对中国自主研制的大型民机的余度飞行控制系统进行基础技术研究,设计了一套适合民机电传(FBW)系统的余度飞控计算机(FCC)新方案。提出了民机余度飞控计算机的2个设计准则：满足系统的可靠性指标和满足FO/FO/FO容错等级。然后根据这2个基本准则,给出了民机余度飞控计算机设计的7个建议,从而确定了民机余度飞行控制系统的余度数和余度结构：新型民机的余度飞行控制系统可采用非相似四余度,每个余度通道由两个支路构成比较监控结构,每个支路运行2套软件,保证软硬件系统的可靠性均衡。还确定了民机余度飞行控制系统的工作方式,使用Petri网分析了新方案的可靠性,并与B777和A320的余度飞控计算机进行了比较。     

基于FC光传总线的分布式容错系统组通信协议

分布式容错系统常用于构造高可靠的关键应用,其核心构件组通信协议(GCP)实现了带有可靠性语义的多对多的通信原语。本文主要讨论基于光纤通道(FC)总线用于分布式容错的组通信协议,探讨了使用冗余消息技术实现实时、可靠数据传输的方法,提出了将数据和控制消息分开处理来实现数据输入实时性和控制消息按因果顺序提交的算法,力求获得最大程度的并行性。提出并设计了基于领导者-跟随者的故障处理机制,利用两阶段事务处理协议实现故障处理中的视图同步和状态切换,给出了协议的设计原理和实现框架。最后给出了该协议在基于PowerPC单板计算机的三余度容错飞行控制计算机系统中的运行结果,并对该结果进行了简要分析。     

基于Riccati方程的航空发动机鲁棒容错控制

采用状态反馈控制律,基于Riccati型方程,导出了对象模型存在参数摄动的航空发动机控制系统对传感器失效具有完整性的一个充分条件,并给出了使该充分条件得到满足的一种迭代计算方法。以某型双转子航空发动机为例进行了仿真设计,仿真计算结果表明上述方法有效、实用。对于执行器发生故障的情形,也给出了类似的结论。      

利用设备变母体变环境数据的系统可靠性综合评估

提出在系统可靠性综合评估L M法中可以利用设备研制过程中变母体变环境数据。首先论述了设备研制阶段变母体和不变母体情况下,利用设备不同环境数据对设备可靠性进行综合评估,在此基础上,给出了系统评估L M法的结论。实例计算表明,由于用于设备可靠性评估的数据量的增加,评估的准确性大大提高。     

非相似余度飞控计算机

从容错的角度介绍了Boeing777和A320的数字飞行控制计算机系统。Boeing777和A320的飞控计算机都采用了非相似的余度技术,能容忍软件和硬件的共态故障,但在每个计算机的功能分配和整个飞控计算机系统的余度结构编排等方面体现了各自的特点。用广义随机Petri网描述了Boeing777余度结构和容错动态过程,并进行了系统的可靠性计算和容错度分析。针对中国"大型飞机"容错飞控系统的设计作了分析和建议。     

容错多传感器组合导航系统发展综述

对容错组合导航系统的基本理论、联邦滤波器的设计方法、特点进行了分析；指出联邦滤波器在时间和空间上为组合导航系统的容错设计提供了条件；同时对组合导航系统故障诊断、故障隔离和系统重构方法进行了研究。     

机载机电系统可靠性的计算机辅助分析方法

 为了提高机载机电系统的可靠性，机载机电系统常采用余度系统，以达到故障容错，进而实现整个飞机系统的高可靠性和安全性。开发适应于余度间耦合、动态性能降级的ReliaApp可靠性分析评价软件平台，通过有效综合故障模式影响（FMEA）、故障树分析（FTA）和Markov状态转移链法，实现不同容错设计方案的选择、机电系统的可靠性定量评价并给出系统的薄弱环节，为系统的余度配置和改进设计提供软件设计与评估平台，以确保飞机系统的高可靠性和安全性。实例应用表明该软件平台是飞机机载机电系统可靠性设计与评价有效的计算机辅助工具。     

空间模块化机械手系统容错控制系统研究

研究搭载在空间站或其他近地轨道航天器上的空间模块化机械手系统的容错控制系统.与地面应用环境相比较,空间特殊的应用环境存在许多不同,因而传统工业机械手系统的设计技术不能直接应用于空间机械手系统的设计.考虑到空间应用对系统质量、体积、功耗、研制费用和周期所提出的苛刻要求,主要采用COTS器件设计并实现该空间机械手系统的容错控制系统,介绍了系统的软硬件体系结构及其特点,最后给出系统的性能参数.在系统设计中采用许多已有的设计技巧与工程经验,具有高可靠性和工程实用性.     

Design by extrapolation: an evaluation of fault tolerant avionics

Over the past 30 years, safety-critical avionics systems such as Fly-By-Wire (FBW) flight controls, full-authority digital engine controls, and other systems have been introduced on many commercial and military airplanes and spacecraft. Early FBW systems, such as on the F-16 and Airbus A320, were considered revolutionary and introduced with extreme caution. These early systems and their successors all make use of redundant and fault-tolerant avionics to provide the required dependability and safety, but have used significantly different architectures. This paper examines the different levels of criticality and fault tolerance required by different types of avionics systems, establishes architectural categories of fault-tolerant architectures, and identifies the discriminating features of the varied approaches. Examples of discriminators include the level of redundancy, methods of engaging backup systems, protection from software errors, and the use of dissimilar hardware and software. The strengths and weaknesses of the approaches will be identified. The paper concludes with some speculation on trends for future systems based on this evaluation of previous systems     

A strong robustness open-circuit fault diagnosis strategy for novel fault-tolerant electric drive system based on d-q-axis current signal

To diagnose the Open-Circuit (OC) fault in the novel fault-tolerant electric drive system, based on d-q-axis current signal, a strong robustness diagnosis strategy is proposed and investigated. Fewer independent power supplies and converters are required in the novel fault-tolerant electric drive system based on Dual-Winding Permanent Magnet Motor (DWPMM), and the system’s reliability, usage ratio and power density have been improved compared to the conventional fault-tolerant motor drive system. However, the novel fault-tolerant electric drive system has the OC fault diagnostic false alarms issue when load changes suddenly or under light-load condition. And it lacks the research on the diagnostic method when the system encounters intermittent OC fault in power switches. By theory derivation, simulation and experimental verification, it can be concluded that the proposed strong robustness OC fault diagnosis strategy based on d-q-axis current signal can overcome the OC fault diagnostic false alarms issue when load changes suddenly or under light-load condition. And it can detect and locate the OC fault of single-phase winding in real time, and diagnose the intermittent OC fault of power switches.     

Real-time and reliability analysis of time-triggered CAN-bus

Real-time performance and reliability are two most important issues in applications of time-triggered controller area network (CAN) bus systems at present. A scheduling matrix of time-triggered CAN-bus system is established using average-loading algorithm. Periodic messages are guaranteed to transmit without delay by distributing independent transmission windows within the system matrix. Considering the traditional CAN-bus transmission mechanism and the time-triggered feature, an algorithm is improved to calculate the worst-case delay of event-triggered messages in time-triggered CAN-bus systems. The failure probability is calculated for event-triggered messages whose worst-case delay exceeds their deadlines. Different levels of redundant structures of CAN-bus circuits are analyzed and the maintenance management is proposed to improve the system reliability. Finally, the reliabilities of different structures are calculated and the influences of maintenance on the system reliability are analyzed.     

基于联邦滤波的惯导/北斗/里程计紧 组合导航算法研究

针对地面载体长时间复杂应用环境对导航系统精确性和可靠性的要求,提 出一种基于联邦滤波器的惯导/北斗/里程计紧组合导航算法。在分析惯导、北斗、里程 计导航系统特点的基础上,建立了组合导航系统的误差状态模型和量测模型,采用联邦 滤波器实现了三者的紧组合容错系统设计,分别对子系统无故障、北斗及里程计出现故 障情况下进行仿真验证。结果表明,将联邦滤波理论应用于惯导/北斗/里程计紧组合导 航系统可以提高导航性能和系统的容错能力。     

基于模态切换的航空发动机容错控制

综合了航空发动机控制和故障诊断方法,设计了基于模态切换的任务级和发动机级模式的容错控制系统.任务级模式在发动机部件故障时,通过切换控制策略和控制模式达到恢复或降低发动机性能的要求;发动机级模式在控制回路失效时,根据故障情况切换到容错控制回路,从而保证发动机继续正常工作.数字仿真结果表明:在稳态或加速过程中出现部件故障时,容错控制系统都能够100%恢复发动机的推力;在发动机中间、慢车和节流状态下,当压气机转速控制回路失效时,容错控制系统能够在3s内平稳切换到风扇转速控制回路.      

基于视觉的惯性导航误差在线修正

陀螺零偏和加速度计零偏是影响惯性测量单元(IMU)积分精度的重要因素。提供一组精确的实时的零偏估计可以提高IMU的积分精度,为视觉导航提供良好的位姿预测,提高整个系统的动态性能。通过合理地建立IMU的噪声模型以及IMU和视觉的组合方程,利用一种基于李群和李代数知识的IMU预积分方法将零偏进行合理的线性化,运用Kalman滤波进行IMU零偏的在线估计。实验结果表明,通过本文的修正方法,惯性导航的平均积累误差由0.034m/s提高到0.0037m/s,精度明显提高。     

Reliability and reliability sensitivity analysis of structure by combining adaptive linked importance sampling and Kriging reliability method

The application of reliability analysis and reliability sensitivity analysis methods to complicated structures faces two main challenges: small failure probability (typical less than 10⁻⁵) and time-demanding mechanical models. This paper proposes an improved active learning surrogate model method, which combines the advantages of the classical Active Kriging – Monte Carlo Simulation (AK-MCS) procedure and the Adaptive Linked Importance Sampling (ALIS) procedure. The proposed procedure can, on the one hand, adaptively produce a series of intermediate sampling density approaching the quasi-optimal Importance Sampling (IS) density, on the other hand, adaptively generate a set of intermediate surrogate models approaching the true failure surface of the rare failure event. Then, the small failure probability and the corresponding reliability sensitivity indices are efficiently estimated by their IS estimators based on the quasi-optimal IS density and the surrogate models. Compared with the classical AK-MCS and Active Kriging – Importance Sampling (AK-IS) procedure, the proposed method neither need to build very large sample pool even when the failure probability is extremely small, nor need to estimate the Most Probable Points (MPPs), thus it is computationally more efficient and more applicable especially for problems with multiple MPPs. The effectiveness and engineering applicability of the proposed method are demonstrated by one numerical test example and two engineering applications.     

Decentralized Filtering and Redundancy Management for Multisensor Navigation

Failure detection and redundancy management is discussed for avionics applications of integrated navigation involving coordinated use of multiple simultaneous sensor subsystems such as GPS, JTIDS, TACAN, VOR/DME, ILS, an inertial navigation system (INS), and possibly even Doppler AHRS. A brief high level survey is provided to assess the status of those techniques and methodologies advertized as already available for handling the challenging real-time failure detection, redundancy management, and Kalman filtering aspects of these systems with differing availabilities, differing reliabilities, differing accuracies, and differing information content/sampling rates. Following the status review, a new failure detection/redundancy management approach is developed based on voter/monitoring at both the raw data and at the filtered-data level, as well as using additional inputs from hardware built-in-testing (BIT) and from specialized tests for subsequent failure isolation in the case of ambiguous indications. The technique developed involves use of Gaussian confidence regions to reasonably account for the inherent differences in accuracy between the various sensor subsystems. Online estimates of covariances from the Kalman filter are to be used for this purpose (when available). A technique is provided for quantitatively evaluating both the probability of detecting failed component subsystems and the probability of false alarm to be incurred, which is then to be traded off as the basis for rational selection of the thresholds used in the automated decision process. Moreover, the redundancy management procedure is demonstrated to be amenable to pilot or navigation operator prompting and override, if necessary.     

基于QoS的卫星网络端-端通信可靠性分析

针对卫星网络动态环境下的高速信息传输、业务类型差异大等特点，提出一种综合考虑各业务QoS（Quality of Service）指标的可靠性分析方法。在卫星通信网络实际运行周期内，通信系统往往处于逐渐劣化过程中，导致卫星的节点和链路除正常工作和完全失效外，还存在部分失效的工作状态。本文在链路多状态基础上基于最小路集算法（Minimum Path Set Algorithms，MPSA）在不同业务的QoS指标（时延、带宽和丢包率）约束下，得出满足该业务QoS约束的所有可靠路径集，对路径集中路径进行不交化处理得到网络端-端可靠性。研究结果表明，不同业务由于QoS需求的差异导致网络端-端可靠性不同，所提算法与传统算法相比更加符合实际。由于实际卫星网络环境中会采用端-端并行多路径传输（Multi-Path Transmission，MTP），本文在上述研究的基础上，进一步对多路径的端-端可靠性进行了研究，结果表明多路径数据传输可靠性高。     

Installation error calibration for MEMS angular measurement system in hypersonic wind tunnel

The accuracy of model attitude measurement has an important impact on wind tunnel test results. Microelectromechanical System Inertial Measurement Unit (MEMS IMU) provides a feasible way to measure model attitudes with high accuracy. However, the installation error between MEMS IMU coordinate system and the body coordinate system of test models can make the accuracy of the model attitude measurement decrease. In wind tunnel tests, the installation error depends on the relationship between the IMU and the model mechanism before tests. Therefore, in-field calibration in wind tunnel tests is necessary to reduce installation errors. To improve attitude measurement accuracy, the least squares quaternion calibration method based on MEMS IMU and six-position calibration procedure are proposed. High-precision three-axis turntable tests are performed. The pitch accuracy after calibration is higher than that before calibration in the angle of attack sweeping tests. The Root-Mean-Square Errors (RMSE) in the roll and yaw are within 0.01°, which are smaller than those before calibration. In the roll sweeping tests, RMSE of three attitude angles decrease significantly. In hypersonic wind tunnel tests, the pitch errors before and after calibration are within 0.05° and 0.02° in the angle of attack sweeping tests without wind. In five angle of attack sweeping tests with wind, the deviation between the mean of the pitch and the pitch after the elastic angle correction is within 0.03° and the standard deviation of five tests is within 0.01°. The proposed method is confirmed to enhance the accuracy of attitude measurement effectively, which is convenient for engineering applications.     

Multi-objective evolutionary design of selective triple modular redundancy systems against SEUs

To improve the reliability of spaceborne electronic systems,a fault-tolerant strategy of selective triple modular redundancy(STMR)based on multi-objective optimization and evolvable hardware(EHW)against single-event upsets(SEUs)for circuits implemented on field programmable gate arrays(FPGAs)based on static random access memory(SRAM)is presented in this paper.Various topologies of circuit with the same functionality are evolved using EHW firstly.Then the SEU-sensitive gates of each circuit are identified using signal probabilities of all the lines in it,and each circuit is hardened against SEUs by selectively applying triple modular redundancy(TMR)to these SEU-sensitive gates.Afterward,each circuit hardened has been evaluated by SEU Simulation,and the multi-objective optimization technology is introduced to optimize the area overhead and the number of functional errors of all the circuits.The proposed fault-tolerant strategy is tested on four circuits from microelectronics center of North Carolina(MCNC)benchmark suite.The experimental results show that it can generate innovative trade-off solutions to compromise between hardware resource consumption and system reliability.The maximum savings in the area overhead of the STMR circuit over the full TMR design is 58%with the same SEU immunity.     

开放式FADEC系统的数据总线研究

研究了容错数据总线这个从集中式向开放式架构过渡的关键技术.在深入研究确定性、一致性、开放性、拓扑结构、调度策略、容错机制和传输带宽等开放式FADEC(全权限数字电子控制)数据总线关键特征的基础上,分析了总线数据传输的时间不确定性问题.从性能、可靠性和可用性的角度深入研究了TTP/C(time-triggered protocol/automotive class C),ARINC659,TTCAN(time-triggered controller area network)和FlexRay这4种时间触发架构数据总线的关键特征.研究结果表明:TTP/C总线是开放式FADEC的最佳选择,最后提出了一种基于TTP/C总线的航空发动机模块化DEEC(digital electronic engine controller)硬件架构.