CN112147924A - High-precision program-controlled task management system - Google Patents
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
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- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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Abstract
A high-precision program-controlled task management system comprises a program-controlled task management module, a program-controlled task execution mechanism and a high-precision time management module, wherein the program-controlled task management module is used for receiving an upper note task data block, sending a program-controlled task decomposition table through an onboard data bus, and realizing task instruction execution through the control execution mechanism.
Description
Technical Field
The invention relates to a high-precision program-controlled task management system, and belongs to the field of satellite program-controlled task management.
Background
The satellite program control task system is generally applied to various microwave remote sensing satellites, optical remote sensing satellites and satellite constellations and is a necessary means for the satellites to execute load tasks. The success or failure of the execution of the program control task is directly related to the success or failure of the satellite task. With the increasing complexity of tasks, the requirement on the instruction execution precision of satellite program control tasks is higher and higher, and the program control task system widely applied to the traditional satellite cannot meet the requirement.
The existing satellite program control task system is mainly responsible for a program control task management module, and the equipment receives a program control task data block injected by a ground measurement and control station and inserts program control instructions in the data block into a program control storage area according to the execution time of the program control task data block. And the operating system of the program control task management module judges whether a program control command is executed currently or not by scheduling the program control task. This technique has the following limitations, which affect the execution accuracy:
uncertainty of task scheduling occasion. At present, a soft real-time operating system is generally used by a satellite, the soft real-time operating system does not have the task time limit capability, and the priority of a program control task is arranged below important tasks such as remote control, remote measurement and the like, so that the satellite executes the tasks such as remote control, remote measurement and the like in each task period and processes the program control task, the starting time of the program control task is influenced by the processing time of each task in the past, great uncertainty exists, the length of data injected on a ground measurement and control station is different, and the uncertainty of the processing time of the remote control task can reach dozens of milliseconds. The uncertainty of the processing time of the telemetry task can reach hundreds of milliseconds due to the fact that the telemetry response speed of each device on the satellite is fast and slow. Thus, the uncertainty in the programmed task scheduling opportunity is on the order of hundreds of milliseconds.
Error introduced by instruction execution timing. The program control task management module reads the second value of the satellite time at the current moment in the program control task, compares the read satellite time with the execution time of the program control command, and sends the program control command if the read satellite time second value is the same as the execution time second value of the program control command. However, this design may not compare and determine better transmission timings, so that the execution error is increased, for example, fig. 1 shows that there is a program control command "program control command 1" to be executed in N +1 seconds of satellite time, and ideally, the program control task management module should execute the command in N +1 seconds of satellite time, and according to the prior art, if "program control command 1" is transmitted in N seconds of satellite time, the execution error is 100 milliseconds, and if "program control command 1" is transmitted in N +1 seconds of satellite time, the execution error is 800 milliseconds, so the error of the command execution timing is in the order of hundreds of milliseconds.
Errors introduced by the instruction transmission and execution process. The program control task management module sends a program control command to the program control task execution mechanism to be executed through the satellite data bus. The transmission of the command over the bus introduces some error. Taking a general CAN bus as an example, the CAN bus adopts a CSMA/CD detection mechanism, and when two communication nodes on the bus simultaneously request to transmit data, the data with the highest priority must be selected for preferential transmission through lossless bitwise arbitration. When the program control task management module requests to send a program control command, if data with higher priority are also requested to be sent on the bus, the program control command can only be applied to be sent after the high-priority data are sent. Even if the priority of the program control instruction is set to be the highest, the priority of the program control instruction is also the highest, and the program control instruction can only be transmitted after the data is transmitted. The transmission error is approximately 0.4 milliseconds at a code rate of 500 Kbps. Considering that the programmed task executing mechanism may not execute the programmed instruction in the next software cycle after receiving the instruction, the execution error may be in the order of hundreds of milliseconds.
In summary, the instruction execution precision of the existing program control task system is not high, and the new requirements of high precision and complex tasks cannot be met.
Disclosure of Invention
The technical problem solved by the invention is as follows: aiming at the problems that the traditional program control task system is low in instruction execution precision and difficult to adapt to the high precision of complex program control tasks in the prior art, a high-precision program control task management system is provided.
The technical scheme for solving the technical problems is as follows:
the utility model provides a high accuracy programme-controlled task management system, includes programme-controlled task management module, programme-controlled task actuating mechanism, high accuracy time management module which characterized in that:
the program control task management module: receiving program control task data block information annotated by a ground measurement and control station on a satellite, generating a program control task planning table and a program control task decomposition table corresponding to a program control task execution mechanism by using the obtained program control task information, sending the program control task decomposition table to the program control task execution mechanism, and controlling the program control task execution mechanism to execute instructions;
the program-controlled task execution mechanism comprises: the system comprises N execution devices, receives a program control task decomposition table sent by a program control task management module, distributes instructions to be executed according to the information in the table, injects the program control task instructions into the corresponding execution devices according to the corresponding execution time, inserts and updates the program control task table of the injected execution devices, judges whether the high-precision time on the satellite at the current moment meets the execution range condition or not, controls the execution devices to execute the program control instructions through the program control task management module if the high-precision time on the satellite meets the execution range condition, otherwise does not execute the program control instructions, and unifies the on-satellite time through the high-precision time management module until the high-precision time on the satellite meets the execution range condition;
high accuracy time management module: high-precision time information is generated, high-precision time unification is carried out on the satellite by a second pulse sending and time synchronization broadcasting method in whole second, and time of each execution device of the program control task management module and the program control task execution mechanism is unified so as to ensure that all program control instructions are triggered and executed in the same precision satellite-to-satellite time.
And the program-controlled task management module, the program-controlled task execution mechanism and the high-precision time management module perform data interaction through an on-satellite data bus.
The program-controlled task planning table comprises program-controlled instructions of all tasks to be executed, and specifically comprises the following steps: the method comprises the following steps of executing equipment ID information, execution time of each task program control instruction to be executed and a task program control instruction code to be executed, wherein the program control task decomposition table is determined according to a program control task planning table and specifically comprises the following steps: and executing all the program control commands of the tasks to be executed and the command execution time corresponding to the same ID of the executing equipment.
The program control command of the task to be executed can be inserted, updated and deleted through the program control task management module after the program control task planning table is generated, and the updated program control task planning table and the updated program control task decomposition table need to be sent to the program control task execution mechanism again through the program control task management module.
And the program control task decomposition table corresponds to the execution equipment one by one through the ID of the execution equipment.
And if the execution equipment receives the program-controlled task decomposition table sent by the program-controlled task management module, generates a program-controlled task table corresponding to the current execution equipment, and receives an updated program-controlled task decomposition table sent by the program-controlled task management module at a later moment, updating the program-controlled task table corresponding to the current execution equipment according to the updated program-controlled task decomposition table received at the later moment.
And the execution equipment executes the program control instruction at the current moment by receiving the program control task decomposition table sent by the program control task management module and the whole second interrupt signal generated by the high-precision time management module.
Compared with the prior art, the invention has the advantages that:
(1) the high-precision program-controlled task management system provided by the invention is not influenced by uncertain task scheduling time of a program-controlled task management module, decomposes and generates a program-controlled task decomposition table, stores the program-controlled task decomposition table into each related program-controlled task execution mechanism respectively, processes program-controlled tasks in high-precision time whole second interruption, establishes a whole star-level time system, ensures the consistency of high-precision time whole second interruption of all equipment, improves the execution time precision of the program-controlled tasks to be within 100 microseconds from hundred millisecond magnitude in the prior art, can not introduce errors due to influence of instruction execution time, transfers the program-controlled tasks to the program-controlled task management module and the program-controlled task execution mechanisms, executes the program-controlled tasks in the high-precision time whole second interruption, and has no error caused by uncertain instruction execution time;
(2) the invention adopts the method of sending the program control task to each execution device for storage in advance, thereby avoiding the transmission delay of the prior scheme that the instruction is transmitted to the program control task execution mechanism firstly and then the instruction is executed, the program control task execution mechanism prepares the program control task list before the interruption of the program control task comes in a whole second at high-precision time, and the program control instruction is executed immediately when the interruption comes, and the error of the instruction transmission and execution process does not exist.
Drawings
FIG. 1 is a schematic diagram of prior art program control instruction execution provided by the present invention;
FIG. 2 is a schematic diagram of a program controlled task system provided by the present invention;
FIG. 3 is a schematic diagram of a program control task decomposition table generated by program control task planning table parsing according to the present invention;
FIG. 4 is a schematic diagram illustrating the insertion and update of the decomposition table of the program controlled task provided by the present invention;
FIG. 5 is a diagram illustrating an exemplary implementation of a programmed task provided by the present invention;
FIG. 6 is a schematic diagram of a delete program control task list instruction provided by the present invention;
Detailed Description
A high-precision program-controlled task management system is established on the basis that a program-controlled task management module and a program-controlled task execution mechanism have unified high-precision time, distributes program-controlled task data determined by a ground measurement and control station and executes the program-controlled task data strictly according to preset execution time, and mainly comprises the program-controlled task management module, the program-controlled task execution mechanism and the high-precision time management module, wherein:
the program control task management module receives program control task data block information injected on the ground measurement and control station on the satellite, generates a program control task planning table and a program control task decomposition table corresponding to the program control task execution mechanism by using the obtained program control task information, sends the program control task decomposition table to the program control task execution mechanism, and controls the program control task execution mechanism to execute instructions;
the program control task management module is mainly used for carrying out data interaction with the program control task execution mechanism and the high-precision time management module through an on-satellite data bus;
in the program-controlled task management module, the program-controlled task planning table includes program-controlled instructions of all tasks to be executed, which specifically include: the method comprises the following steps of executing equipment ID information, execution time of each task program control instruction to be executed and a task program control instruction code to be executed, wherein the program control task decomposition table is determined according to a program control task planning table and specifically comprises the following steps: all task program control instructions to be executed and instruction execution time corresponding to the same execution equipment ID;
after the program-controlled task planning table is generated, the program-controlled command to be executed can be inserted, updated and deleted through the program-controlled task management module, and the updated program-controlled task planning table and the updated program-controlled task decomposition table need to be sent to the program-controlled task execution mechanism again through the program-controlled task management module;
the program-controlled task execution mechanism mainly comprises N execution devices, receives a program-controlled task decomposition table sent by a program-controlled task management module, distributes instructions to be executed according to the information in the table, injects program-controlled task instructions into the corresponding execution devices according to corresponding execution time, inserts and updates the program-controlled task table of the injected execution devices, judges whether the high-precision time on the satellite at the current moment meets the execution range condition, controls the execution devices to execute the program-controlled instructions through the program-controlled task management module if the high-precision time on the satellite at the current moment meets the execution range condition, otherwise does not execute the program-controlled instructions, and unifies the on-satellite time through the high-precision time management module until the high-precision time on the satellite meets the execution range condition;
the program control task decomposition table corresponds to the execution equipment one by one through the ID of the execution equipment, and meanwhile, if the execution equipment receives the program control task decomposition table sent by the program control task management module and generates the program control task table corresponding to the current execution equipment, and receives the updated program control task decomposition table sent by the program control task management module at a certain later moment, the program control task table corresponding to the current execution equipment is updated according to the updated program control task decomposition table received at the moment;
high accuracy time management module: generating high-precision time information, performing high-precision time unification on the satellite by a second pulse sending and time synchronization broadcasting method in whole second, and unifying the time of each execution device of the program control task management module and the program control task execution mechanism so as to ensure that all program control instructions are triggered and executed at the same precision on-satellite time;
the execution equipment executes the program control instruction at the current moment by receiving the program control task decomposition table sent by the program control task management module and the whole second interrupt signal generated by the high-precision time management module.
And when the high-precision time on the satellite at the current moment meets the execution range condition, determining the execution range condition according to the demand of the instruction to be executed.
The invention is further illustrated by the following specific examples:
the starting time of the program-controlled task is influenced by the processing time of each task, and great uncertainty exists, as shown in fig. 1: the program control task is called at the time of 900 milliseconds within N seconds of the satellite hour, the program control task is called at the time of 800 milliseconds within N +1 seconds of the satellite hour, and the time of calling the program control task twice is greatly different from that of calling the program control task twice, and reaches the magnitude of hundreds of milliseconds.
The program control task management system is planned as shown in fig. 2, high-precision time is generated by a high-precision time management module, a second pulse and a high-precision time integral second time synchronization broadcast are output externally, the second pulse is a pulse signal with an interval of 1 second, the program control task management module and a program control task execution mechanism can trigger the high-precision time integral second interrupt processing program control task after receiving the second pulse, the high-precision time corresponding to the current second pulse is marked by the time synchronization broadcast, and the time synchronization broadcast is sent to each device for synchronizing time through an on-satellite data bus. The high-precision time management module is generally composed of a high-stability crystal oscillator or an atomic clock, and can ensure that the second pulse can be accurately sent out.
The program control task management module receives the program control task data blocks injected on the ground measurement and control station, and forms a program control task planning table according to task time and content, as shown in fig. 3. The program-controlled task planning table comprises three parts of equipment ID, execution time and instruction codes. The device ID is a device virtual channel number for executing the instruction code and is used for identifying a target device in the data communication process, the task illustrated in the figure relates to four devices with IDs of 00, 03, 07 and 08, 00 is an ID of a program control task management module, the rest are IDs of execution devices of a program control task execution mechanism, and the execution time is the time for executing the instruction code;
in the program control task planning table, program control instructions are arranged according to the sequence of execution time, so that the insertion of tasks is facilitated, and the follow-up management of the tasks is facilitated. And the program control task management module classifies the program control task planning table according to the equipment ID between two high-precision time whole-second interruptions to form a program control task decomposition table of each program control task execution mechanism. If the decomposition table is of the program control task management module, the decomposition table is reserved, and if the decomposition table is of the program control task execution mechanism, the program control task decomposition table is pushed to related equipment through the onboard data bus. The format of the program control task decomposition table is the same as that of the program control task planning table, and the program control task decomposition table also comprises three parts of equipment ID, execution time and instruction codes.
The program control task execution mechanism only receives the program control task decomposition table with the same ID as the own equipment. If the executive device receiving the program-controlled task decomposition table has no program-controlled task, i.e. currently has no program-controlled task table, the executive device directly uses the content of the task decomposition table to generate its own program-controlled task table, and if the executive device receiving the program-controlled task decomposition table has the program-controlled task, i.e. currently has the program-controlled task table, the executive device inserts the instruction code into the original program-controlled task according to the execution time of the instruction to form a new program-controlled task table.
As shown in fig. 4, the device 07 has a program-controlled task table, and the execution time of the program-controlled command is 8 seconds, 30 seconds and 31 seconds, respectively. The device receives a new program control task decomposition table, and the execution time of the program control instruction in the new program control task decomposition table is respectively 11 seconds and 52 seconds. The device 07 will fetch the first instruction in the program control task decomposition table and find the insertion position in the existing program control task table by using the execution time of the instruction as an index, i.e. the insertion position is between 8 seconds and 30 seconds of tasks. Then, the instructions behind the program control task decomposition table are taken out one by one, and the insertion positions are found in the program control task table of the equipment in sequence, so that a new program control task table is formed.
The execution of the program control instruction is completed by the program control task management module and each execution device, each device receives the pulse per second and the time synchronization broadcast, generates the interruption of the whole second, checks the program control task table in the interruption processing function, if the instruction of the current time exists, the execution is immediately carried out, as shown in fig. 5, taking a device 07 as an example, when the interruption of the 7 seconds of the satellite occurs, the program control task table is checked, and if the program control task of the current time does not exist, the interruption is exited to execute other tasks. And when the 8-second interruption of the satellite hour occurs, checking the program control task table, if the program control task at the moment exists, immediately sending out the program control instruction, and after the execution is finished, exiting the interruption. The interrupt processing function is only responsible for inquiring and executing the program control command, and the execution time is less than 100 microseconds, so the precision of the program control task execution can be guaranteed to be better than 100 microseconds.
Besides establishing and inserting and updating the program control task list, the program control management strategy also comprises deleting the program control instructions in the program control task list. Deletion is realized by an instruction, and the instruction content comprises three parts: device ID, deletion start time, and deletion end time. The device ID indicates a device object of the deletion operation, the deletion instruction can be sent to the related device through the device ID, the device searches the program control task table according to the deletion starting time in the instruction, and the program control instructions between the deletion starting time and the deletion ending time in the table are all deleted. As shown in fig. 6, taking device 07 as an example, a command is sent to the device to delete all commands in the program control task table within 11 seconds to 50 seconds. After receiving the delete command, the device 07 searches all commands with execution time greater than or equal to 11 seconds and less than or equal to 50 seconds in the program control task table, combs out commands with execution time of 11 seconds, 30 seconds and 31 seconds which meet the delete requirement, deletes the commands meeting the requirement, and then updates the program control task table to complete the delete task. If a task instruction at a certain moment in the program control task list is required to be deleted, the deletion starting time and the deletion ending time are set to be the same moment.
Those skilled in the art will appreciate that the present invention has not been described in detail.
Claims (7)
1. A high-precision program-controlled task management system is characterized in that: including programme-controlled task management module, programme-controlled task actuating mechanism, high accuracy time management module, wherein:
the program control task management module: receiving program control task data block information annotated by a ground measurement and control station on a satellite, generating a program control task planning table and a program control task decomposition table corresponding to a program control task execution mechanism by using the obtained program control task information, sending the program control task decomposition table to the program control task execution mechanism, and controlling the program control task execution mechanism to execute instructions;
the program-controlled task execution mechanism comprises: the system comprises N execution devices, receives a program control task decomposition table sent by a program control task management module, distributes instructions to be executed according to the information in the table, injects the program control task instructions into the corresponding execution devices according to the corresponding execution time, inserts and updates the program control task table of the injected execution devices, judges whether the high-precision time on the satellite at the current moment meets the execution range condition or not, controls the execution devices to execute the program control instructions through the program control task management module if the high-precision time on the satellite meets the execution range condition, otherwise does not execute the program control instructions, and unifies the on-satellite time through the high-precision time management module until the high-precision time on the satellite meets the execution range condition;
high accuracy time management module: high-precision time information is generated, high-precision time unification is carried out on the satellite by a second pulse sending and time synchronization broadcasting method in whole second, and time of each execution device of the program control task management module and the program control task execution mechanism is unified so as to ensure that all program control instructions are triggered and executed in the same precision satellite-to-satellite time.
2. A high precision program controlled task management system according to claim 1, characterized by:
and the program-controlled task management module, the program-controlled task execution mechanism and the high-precision time management module perform data interaction through an on-satellite data bus.
3. A high precision program controlled task management system according to claim 1, characterized by:
the program-controlled task planning table comprises program-controlled instructions of all tasks to be executed, and specifically comprises the following steps: the method comprises the following steps of executing equipment ID information, execution time of each task program control instruction to be executed and a task program control instruction code to be executed, wherein the program control task decomposition table is determined according to a program control task planning table and specifically comprises the following steps: and executing all the program control commands of the tasks to be executed and the command execution time corresponding to the same ID of the executing equipment.
4. A high precision program controlled task management system according to claim 1, characterized by:
the program control command of the task to be executed can be inserted, updated and deleted through the program control task management module after the program control task planning table is generated, and the updated program control task planning table and the updated program control task decomposition table need to be sent to the program control task execution mechanism again through the program control task management module.
5. A high precision program controlled task management system according to claim 1, characterized by:
and the program control task decomposition table corresponds to the execution equipment one by one through the ID of the execution equipment.
6. A high precision program controlled task management system according to claim 1, characterized by:
and if the execution equipment receives the program-controlled task decomposition table sent by the program-controlled task management module, generates a program-controlled task table corresponding to the current execution equipment, and receives an updated program-controlled task decomposition table sent by the program-controlled task management module at a later moment, updating the program-controlled task table corresponding to the current execution equipment according to the updated program-controlled task decomposition table received at the later moment.
7. A high precision program controlled task management system according to claim 1, characterized by:
and the execution equipment executes the program control instruction at the current moment by receiving the program control task decomposition table sent by the program control task management module and the whole second interrupt signal generated by the high-precision time management module.
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