三余度飞行控制计算机FlexRay节点通信设计

Communication Design of Triplex Flight Control Computer Based on Flexray Bus

摘要:

飞行控制计算机是飞行控制系统的核心组成部分,为进一步提高中小型无人机的安全可靠性,采用了软、硬件结合的三余度管理技术；首先采用模块化的设计思想,设计了系统三余度飞行控制计算机的硬件架构,包括串口、开关量、模拟量、CAN和FlexRay总线以及外扩SRAM等硬件资源；然后设计余度管理策略,该部分提出了软件表决和硬件仲裁两级余度管理思想；此外,为克服传统CAN总线负载量和通信速率等方面的不足,引入了FlexRay总线通信技术,并详细分析了总线通信数据流,设计了基于FlexRay的总线通信机制；最后进行半物理仿真实验,验证FlexRay总线通信功能,验证结果表明设计方案合理可行；设计的三余度飞行控制计算机硬件集成性高且易扩展升级,FlexRay总线通信功能也满足设计需求,具有很高的应用价值。

Abstract:

In order to improve the safety and reliability of the small unmanned aerial vehicle (UAV), triplex redundancy management technique was adopted by combining software and hardware technology. The hardware architecture of a triplex redundancy flight control computer, which includes serial ports, switch quantity, analog CAN bus, FlexRay bus and expended SRAM as well as some other hardware resources, was designed firstly. When designing the redundancy management part, software voting and hardware arbitration were proposed. To overcome the heavy load and slow communication rate of traditional CAN bus, the FlexRay bus was introduced, and the communication mechanism based on the FlexRay bus was designed. Finally feasibility of the design was verified. In short, the design of triplex redundant flight control computer owns high integration and is easy to upgrade. The FlexRay bus communication functions meet the designed requirements, thus the total design has very high application value. 