CN114002944A - Time trigger bus of unmanned chariot control system - Google Patents
Time trigger bus of unmanned chariot control system Download PDFInfo
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Abstract
The time trigger bus of the unmanned combat tank control system adopts a fault-tolerant time trigger-based protocol to support the implementation of redundant nodes and redundant functions on a plurality of nodes, the operation of a communication control chip is based on a time reference established by a fault-tolerant high-precision global clock, bus communication control hardware comprises bus monitoring, and when a failed node occurs in the system, the normal communication of other nodes is not influenced. The main control system adopts a dual-redundancy design, wherein the control tasks are completely undertaken by a normal main control system when 1 fault occurs, the chassis control and the energy control adopt a multi-redundancy multi-node design, the situation that an unmanned vehicle cannot run due to a single fault is avoided, the reliability is improved by adopting the dual-redundancy design of a time trigger bus, in addition, the calculation tasks of the autonomous unit are undertaken by an independent controller, and the bus also comprises a sensing system, a gun control system, an auxiliary system and the like. The time trigger bus of the unmanned combat tank control system can meet the technical characteristics of high data volume, high real-time performance and the like of a new generation of unmanned combat tank control system bus.
Description
Technical Field
The invention relates to the technical field of information buses, in particular to a time trigger bus of an unmanned combat tank control system.
Background
The unmanned combat tank control system is an important component of the unmanned combat tank, the performance of the unmanned combat tank is directly determined by a data bus architecture adopted by the unmanned combat tank control system, particularly, the current unmanned combat tank control system adopts a distributed comprehensive modular electronic system, and a traditional control system architecture bus cannot meet the index requirements of bus time certainty, multiple redundancy, high fault tolerance, combinability, survivability, high bandwidth and the like, so that the performance of gun towers and weapon station fire control systems is restricted, and the survival rate of a battlefield is further reduced. Especially, the unmanned combat vehicle bus in the future must have more functions, better adaptability, higher reliability and stronger survivability. The time trigger bus is a fault-tolerant time trigger-based protocol, which supports redundant nodes and redundant functions implemented on a plurality of nodes, and the operation of the communication control chip is based on a time reference established by a fault-tolerant high-precision global clock inside the communication control chip. The time-triggered bus has been widely used in various manned vehicles, and is currently applied to the electronic systems of the united states National Aeronautics and Space Administration (NASA) at the hunting seat (Orion) spacecraft, the pressure control cabin of the air passenger a380, the digital engine controller of the military, and the railway signal and exchange system of switzerland and other countries.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a time trigger bus of an unmanned combat tank control system.
The technical scheme of the invention is as follows:
the time trigger bus of the unmanned combat tank control system is characterized in that a fault-tolerant time trigger-based protocol is adopted to support implementation of redundant nodes and redundant functions on a plurality of nodes, a communication control chip operates based on a time reference established by a fault-tolerant high-precision global clock inside the communication control chip, bus monitoring is included in bus communication control hardware, and when a failed node occurs in the system, normal communication of other nodes cannot be influenced. The main control system adopts a dual-redundancy design, normal work respectively bears different control tasks, the control tasks are completely borne by the normal main control system when 1 fault occurs, the chassis control and the energy control adopt a multi-redundancy multi-node design, the situation that an unmanned vehicle cannot run due to single fault is avoided, a time trigger bus adopts the dual-redundancy design to improve the reliability, in addition, the calculation tasks of the autonomous units are borne by an independent controller, and the bus further comprises a sensing system, a gun control system, an auxiliary system and the like. The time trigger bus of the unmanned combat tank control system can meet the technical characteristics of high data volume, high real-time performance and the like of a new generation of unmanned combat tank control system bus, and particularly supports the characteristic that various real-time or non-real-time data are transmitted in the same link.
The main control system adopts a dual redundancy design and is characterized in that the main control system takes a time triggering technology as a core, adopts a time triggering network architecture, exchanges and processes time triggering flow data in a communication process, adopts a timing triggering mode or a flexible time triggering mode and a key event triggering mode according to a time synchronization strategy, and respectively undertakes different control tasks in normal work, wherein the control tasks in 1 fault are undertaken by the normal main control system. The autonomous unit calculation task is undertaken by an independent controller, the autonomous unit calculation task has the functions of calculating an autonomous planning instruction according to map information, generating an autonomous driving obstacle avoidance instruction according to radar, vision and infrared sensor information and a navigation and inertial navigation assembly, and generating a striking instruction according to an image autonomously identified target provided by photoelectricity and a follow-up target. The unmanned chariot control system is divided into a plurality of function blocks according to functions, and a system architecture in each function block is formed by a function branch bus built by a function controller and is connected with the controller through a time trigger bus.
The time trigger buses adopt a dual redundancy design, priority tasks and general tasks are respectively born by the time trigger buses with different time, key information and instructions are automatically backed up or issued by the dual buses, and when 1 bus has a fault, the normally working bus bears all bus data and instructions until the fault bus returns to normal. The chassis control and the energy control adopt a multi-redundancy multi-node design, the data of a fault branch circuit is automatically shielded, and the normal operation of the system is ensured so as to meet the requirements of high safety and high reliability. The bus also comprises a sensing system, a gun control system, an auxiliary system and the like, and the functions of the bus are that the sensor is used for sensing the environment, the engine provides power or generates electricity, and the hub motor is controlled to run; the gun turret is controlled to follow through photoelectric identification of a target object, an azimuth motor and a high-low motor, the target is locked by the photoelectric to achieve striking following, and finally the fire control system achieves striking.
Compared with the prior art, the invention has the following advantages:
(1) the time trigger bus of the unmanned combat tank control system effectively avoids data frame contention on a physical link, ensures the determinacy of communication delay and time deviation, has the characteristics of high transmission rate, hard real-time, safety and flexibility, and strong information processing and exchanging capacity of low delay jitter, and has great advantages in system determinacy, resource loss, reliability and real-time compared with the traditional communication platform or bus structure.
(2) The invention carries out redundancy design on key hardware modules, supports implementation of redundant nodes and redundancy functions on a plurality of nodes, has bus diagnosis and bus monitoring functions, realizes detection, identification, isolation, evaluation and restriction of faults, ensures that the safety of the whole system cannot be influenced even if local faults occur in the system, ensures that the faults of a single node cannot be propagated to the whole system, and meets the high requirements of unmanned combat vehicles on reliability and fault tolerance.
Drawings
The invention is further explained below with reference to the drawings and examples.
Fig. 1 is a block diagram of the time trigger bus of the unmanned combat tank control system.
Fig. 2 is software architecture of time trigger bus of unmanned combat tank control system.
Fig. 3 is a bus time trigger sequence of the unmanned aerial vehicle controller.
Fig. 4 is a design of a time triggered bus board card of an unmanned combat vehicle control system.
Fig. 5 is a time trigger bus node information flow of the unmanned combat tank control system.
Detailed Description
The present invention is further described in the following figures and examples, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application and not intended to limit the invention.
The time trigger bus of the unmanned combat tank control system adopts a distributed communication link as a technology, and a dual-redundancy time trigger bus exchange network is utilized to realize communication among a chassis control system, an energy control system, a sensing system, a gun control system, an auxiliary system and the like, a main controller and an autonomous unit so as to ensure the real-time performance and reliability of the system. The unmanned chariot control system is divided into a plurality of function blocks according to functions, a function branch bus is built by a function controller in a system architecture in each function block, a main controller is used as a center in the system, and a communication network is triggered through cascade dual-redundancy time, so that function subsystems/equipment among internal modules, outside and other subsystems are realized, and various functions and operation tasks given to the system are completed through cooperation. The scheme of the whole system of the time trigger bus of the unmanned combat tank control system is shown in figure 1, aiming at the distributed system structure, the resource sharing among all sensors/equipment/task loads can be realized by utilizing an open and reconfigurable safety control technology, the task reliability of the system is improved, the expandability and maintainability of a safety key system are enhanced, and the research and development complexity and the research and development cost are reduced.
The time trigger bus of the unmanned combat tank control system adopts a fault-tolerant time trigger-based protocol, redundant nodes and redundant functions are supported to be implemented on a plurality of nodes, and the operation of a communication control chip is based on a time reference established by a fault-tolerant high-precision global clock in the communication control chip. The unmanned combat tank control system has a large amount of code and software packages, middleware is a software layer technology widely adopted in distributed system development, as shown in fig. 2, the unmanned combat tank control system time trigger bus middleware is between system software and application software, realizes programming abstraction, and shields complexity and heterogeneity of an operating system, hardware equipment, network communication and programming language at the bottom of the system. The middleware of the control system time trigger bus supports the development and interoperation of heterogeneous environments, provides transparent languages and positions, has strong transportability, enables application layer software to run smoothly on different platforms, can improve the flexibility and adaptability of the system, and reduces the research and development complexity and research and development cost of the unmanned combat tank control system.
The message of the bus time communication mechanism of the unmanned combat tank control system controller is positioned by the global scheduling list, and the data frame does not need to contain address information, as shown in figure 3, so that the transmission bandwidth is improved, and the conflict and the fault are avoided. The controller time-triggered protocol bus communication carries out scheduling of communication tasks by establishing a unified global clock, the sending information of the time slot appointed by each communication node on a time axis is based on the global synchronous clock, the data transmission of a pre-designed static global scheduling list driving mode is adopted, and the data transmission is unrelated to external events, so that data transmission service can be provided between the nodes with minimum jitter and predictable delay, bus collision is avoided, and scheduling of the global communication tasks of the system is reasonably optimized and solved according to indexes such as communication task requirements, real-time requirements and the like of each node of the system.
The time trigger bus of the unmanned combat tank control system adopts a distributed system architecture, each function block function controller is connected with the time trigger bus through a node board card, as shown in fig. 4, the node board card realizes a time trigger protocol by using an FPGA (field programmable gate array), guarantees the real-time performance and the reliability of the system, is connected with the bus through interfaces such as PCIe (peripheral component interface express), SPI (serial peripheral interface) or Rapid IO (input/output), performs data interaction, processes data sent from a network and then sends the processed data to a main controller, and guarantees that the data required to be sent by the main controller is transmitted to network equipment deterministically. In addition, the node board card can be configured and managed through reserved interfaces such as JTAG, SPI or serial ports.
The time-triggered bus node information flow of the unmanned combat tank control system is shown in fig. 5, a time-triggered protocol bus communication mechanism is suitable for a distributed control network, a distributed control mode is adopted in both the implementation of a communication schedule and the clock synchronization, data transmitted by a main node are sequentially transmitted in sequence, the type of a data frame is judged, a data transmission interval is formed between every two nodes, each node always receives data of other nodes when not transmitting the data, each node judges the received frame, and if the frame is a frame to be received by the node and has no error, the frame is uploaded to a main controller. The time trigger bus in the system has no master-slave concept, so that when a failure node occurs in the system, the normal communication of other nodes cannot be influenced. The communication control hardware comprises bus monitoring which is the same as other nodes and shares a clock, and members in the system mutually inform the health status of other members and the message status set by a transmitter and a receiver, so that the time trigger bus of the unmanned fighting vehicle control system has the characteristics of high transmission rate, hard real-time performance, safety and flexibility.
In conclusion, the time trigger bus of the unmanned combat tank control system is characterized in that a fault-tolerant time trigger-based protocol is adopted to support implementation of redundant nodes and redundant functions on a plurality of nodes, the operation of a communication control chip is based on a time reference established by a fault-tolerant high-precision global clock inside the communication control chip, bus monitoring is included in bus communication control hardware, and when a failed node occurs in the system, normal communication of other nodes cannot be influenced. The main control system adopts a dual-redundancy design, control tasks are distributed during normal work, the control tasks are completely borne by the normal main control system when 1 fault occurs, the chassis control and the energy control adopt a multi-redundancy multi-node design, the situation that an unmanned vehicle cannot run due to single fault is avoided, the time trigger bus adopts the dual-redundancy design to improve the reliability, in addition, the autonomous unit calculation tasks are borne by an independent controller, and the bus further comprises a sensing system, a gun control system, an auxiliary system and the like. The time trigger bus of the unmanned combat tank control system can meet the technical characteristics of high data volume, high real-time performance and the like of a new generation of unmanned combat tank control system bus, and particularly supports the characteristic that various real-time or non-real-time data are transmitted in the same link.
The above-described embodiments of the present invention have been described in detail for the purpose of illustrating the invention, and it should be understood that the above-described embodiments are only illustrative of the present invention and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (3)
1. The time trigger bus of the unmanned combat tank control system is characterized in that a fault-tolerant time trigger-based protocol is adopted to support implementation of redundant nodes and redundant functions on a plurality of nodes, operation of a communication control chip is based on a time reference established by a fault-tolerant high-precision global clock in the communication control chip, bus monitoring is included in bus communication control hardware, and when a failed node occurs in the system, normal communication of other nodes cannot be influenced. The main control system adopts a dual-redundancy design, normal work respectively bears different control tasks, the control tasks are completely borne by the normal main control system when 1 fault occurs, the chassis control and the energy control adopt a multi-redundancy multi-node design, the situation that an unmanned vehicle cannot run due to single fault is avoided, a time trigger bus adopts the dual-redundancy design to improve the reliability, in addition, the calculation tasks of the autonomous units are borne by an independent controller, and the bus further comprises a sensing system, a gun control system, an auxiliary system and the like. The time trigger bus of the unmanned combat tank control system can meet the technical characteristics of high data volume, high real-time performance and the like of a new generation of unmanned combat tank control system bus, and particularly supports the characteristic that various real-time or non-real-time data are transmitted in the same link.
2. The main control system adopts a dual redundancy design, and is characterized in that the main control system takes a time triggering technology as a core, adopts a time triggering network architecture, and adopts a time triggering flow data exchange and processing delay in the communication process, a time synchronization strategy adopts a timing triggering mode or a flexible time triggering mode and a key event triggering mode, and normal work respectively bears different control tasks, wherein the control tasks are completely borne by the normal main control system when 1 fault occurs. The autonomous unit calculation task is undertaken by an independent controller, the autonomous unit calculation task has the functions of calculating an autonomous planning instruction according to map information, generating an autonomous driving obstacle avoidance instruction according to radar, vision and infrared sensor information and a navigation and inertial navigation assembly, and generating a striking instruction according to an image autonomously identified target provided by photoelectricity and a follow-up target. The unmanned chariot control system is divided into a plurality of function blocks according to functions, and a system architecture in each function block is formed by a function branch bus built by a function controller and is connected with the controller through a time trigger bus.
3. According to claim 1, the time-triggered buses adopt a dual-redundancy design, priority tasks and general tasks are respectively borne by different time-triggered buses, key information and instructions are automatically backed up or issued by the dual buses, and when 1 bus fails, all bus data and instructions are borne by a normally working bus until the failed bus returns to normal. The chassis control and the energy control adopt a multi-redundancy multi-node design, the data of a fault branch circuit is automatically shielded, and the normal operation of the system is ensured so as to meet the requirements of high safety and high reliability. The bus also comprises a sensing system, a gun control system, an auxiliary system and the like, and the functions of the bus are that the sensor is used for sensing the environment, the engine provides power or generates electricity, and the hub motor is controlled to run; the gun turret is controlled to follow through photoelectric identification of a target object, an azimuth motor and a high-low motor, the target is locked by the photoelectric to achieve striking following, and finally the fire control system achieves striking.
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- 2021-10-12 CN CN202111187834.4A patent/CN114002944A/en active Pending
Patent Citations (7)
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