CN114124656A - Ground integrated measurement and control system for carrier rocket - Google Patents

Ground integrated measurement and control system for carrier rocket Download PDF

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CN114124656A
CN114124656A CN202111284820.4A CN202111284820A CN114124656A CN 114124656 A CN114124656 A CN 114124656A CN 202111284820 A CN202111284820 A CN 202111284820A CN 114124656 A CN114124656 A CN 114124656A
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module
instruction
master
configuration
switching
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CN114124656B (en
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王之平
韩雨桐
何巍
吴义田
卢頔
赵心欣
王淑炜
黄晨
徐西宝
刘巧珍
岳玮
王晓林
白冰
倪宣浩
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Beijing Institute of Astronautical Systems Engineering
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    • H—ELECTRICITY
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    • H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
    • H04L41/06—Management of faults, events, alarms or notifications
    • H04L41/0631—Management of faults, events, alarms or notifications using root cause analysis; using analysis of correlation between notifications, alarms or events based on decision criteria, e.g. hierarchy, tree or time analysis
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F8/00—Arrangements for software engineering
    • G06F8/70—Software maintenance or management
    • G06F8/71—Version control; Configuration management
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/44—Arrangements for executing specific programs
    • G06F9/4401—Bootstrapping
    • G06F9/4406—Loading of operating system
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/46—Multiprogramming arrangements
    • G06F9/50—Allocation of resources, e.g. of the central processing unit [CPU]
    • G06F9/5005—Allocation of resources, e.g. of the central processing unit [CPU] to service a request
    • G06F9/5027—Allocation of resources, e.g. of the central processing unit [CPU] to service a request the resource being a machine, e.g. CPUs, Servers, Terminals
    • G06F9/5038—Allocation of resources, e.g. of the central processing unit [CPU] to service a request the resource being a machine, e.g. CPUs, Servers, Terminals considering the execution order of a plurality of tasks, e.g. taking priority or time dependency constraints into consideration
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L12/40169—Flexible bus arrangements
    • H04L12/40176—Flexible bus arrangements involving redundancy
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
    • H04L41/06—Management of faults, events, alarms or notifications
    • H04L41/0654—Management of faults, events, alarms or notifications using network fault recovery
    • H04L41/0668—Management of faults, events, alarms or notifications using network fault recovery by dynamic selection of recovery network elements, e.g. replacement by the most appropriate element after failure
    • H—ELECTRICITY
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    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
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    • H04L67/2866—Architectures; Arrangements
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L2012/40208—Bus networks characterized by the use of a particular bus standard
    • H04L2012/40215—Controller Area Network CAN
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L2012/4026—Bus for use in automation systems
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract

The invention discloses a ground integrated measurement and control system of a carrier rocket, which comprises: the system comprises a network communication module, an instruction analysis module, a heartbeat detection module, a bus communication module, a functional module, a fault diagnosis module and a master-slave switching module; after receiving an instruction of an upper computer, the network communication module sends the received instruction to an instruction analysis module; the instruction analysis module compares the instruction with a preset configuration file, the configuration file is provided with a mapping table of the instruction and specific contents, specific instruction contents are obtained through comparison, and a module corresponding to the instruction contents in the functional module is called according to the instruction contents. The invention realizes that different functions correspond to different modules, realizes different functions through different modules, is independent from one another, and facilitates the expansion and cutting of the functions.

Description

Ground integrated measurement and control system for carrier rocket
Technical Field
The invention belongs to the technical field of aerospace electronic system design, and particularly relates to a ground integrated measurement and control system of a carrier rocket.
Background
With the development of the equipping of the ground measurement and control equipment of the carrier rocket, the universal front-end measurement and control equipment of the 'built-in bus + modular board card' will be the future trend. Because the measurement and control equipment adopts different processors and different operating systems, and the types and the number of the internal modular board cards are different, no universal software architecture exists at present. On the other hand, even for the same device, there are some differences in requirements due to different users, which brings higher requirements on the scalability and expansibility of the software architecture.
Disclosure of Invention
The technical problem solved by the invention is as follows: the defects of the prior art are overcome, the integrated measurement and control system for the ground of the carrier rocket is provided, different functions corresponding to different modules are achieved, different functions are achieved through the different modules, the modules are mutually independent, and the expansion and cutting of the functions are facilitated.
The purpose of the invention is realized by the following technical scheme: a ground integrated measurement and control system of a carrier rocket comprises: the system comprises a network communication module, an instruction analysis module, a heartbeat detection module, a bus communication module, a functional module, a fault diagnosis module and a master-slave switching module; after receiving an instruction of an upper computer, the network communication module sends the received instruction to an instruction analysis module; the instruction analysis module compares the instruction with a preset configuration file, the configuration file is provided with a mapping table of the instruction and specific content, specific instruction content is obtained through comparison, and a module corresponding to the instruction content in the functional module is called according to the instruction content; the functional module is communicated with the modularized board card through an internal bus by calling the bus communication module to command the modularized board card, and the functional module and the modularized board card complete the execution action of the corresponding instruction together; after the execution is finished, judging, if the execution is finished, calling the network communication module to send an execution result to the upper computer, if the execution is not finished, calling the function module again, and if the execution is wrong, sending error information to the fault diagnosis module; after the fault diagnosis module receives the error information, comparing the error information with a preset configuration file, if the error information is judged to be a non-serious fault, calling the functional module again to try execution, and if the error information is a serious fault, calling the master-slave switching module to execute an active switching action; the master-slave switching module receives the master-slave switching instruction, then judges, if the local machine is the master machine, sends a master-slave switching request to the slave machine, then downgrades the local machine to the slave machine, if the local machine is the slave machine, waits for the master-slave switching request of the master machine, and upgrades the local machine to the master machine after receiving the master-slave switching request; the heartbeat detection module is used for sending heartbeat packets to the opposite machine in real time and monitoring the heartbeat packets of the opposite machine, if the heartbeat packets are abnormal, the heartbeat detection abnormality is sent to the fault diagnosis module, and after the fault diagnosis module receives the heartbeat detection abnormality, master-slave switching can be triggered.
In the above-mentioned carrier rocket ground integration system of observing and controling, still include: a log module; the log module is used for recording the information of software operation.
In the ground integrated measurement and control system of the carrier rocket, the network communication module is an interface between the whole software and the upper computer and is used for receiving instructions of the upper computer and sending data to the upper computer.
In the integrated measurement and control system for the ground of the carrier rocket, the functional modules comprise an analog quantity acquisition module, an analog quantity output module, a switching value acquisition module and a switching value output module; if the specific instruction content is that a certain switching value channel needs to be opened, the switching value output module is called; if the specific instruction content is that switching value is required to be acquired, calling a switching value acquisition module; if the specific instruction content is that a certain analog channel needs to be opened, calling an analog output module; and if the specific instruction content is that the analog quantity needs to be collected, calling an analog quantity collection module.
In the integrated measurement and control system for the ground of the carrier rocket, repeated non-serious faults are also regarded as serious faults.
In the integrated measurement and control system for the ground of the carrier rocket, the preset configuration file content comprises network configuration, instruction configuration, heartbeat configuration, log configuration, bus communication configuration, function module configuration, fault diagnosis configuration and master-slave switching configuration.
In the integrated measurement and control system for the ground of the carrier rocket, the serious fault is the failure of hardware or the abnormality of a certain software module.
Compared with the prior art, the invention has the following beneficial effects:
(1) according to the invention, different functions corresponding to different modules are realized through the characteristics of the software function modules, different functions are realized through different modules, the modules are mutually independent, and the expansion and cutting of the functions are convenient;
(2) the invention realizes the whole software architecture by the characteristics of the software main body and the eight modules, adopts the design idea of multithreading, and simultaneously executes a plurality of functions to ensure the real-time performance; the system is suitable for various development languages and can be compatible with various operating systems;
(3) the invention realizes that the device with different scales and different functions can be adapted by modifying the configuration file without modifying codes through the characteristics of the software configuration file.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a schematic diagram of a connection relationship between front-end and back-end devices according to an embodiment of the present invention;
fig. 2 is a structural block diagram of the integrated measurement and control system on the ground of the carrier rocket provided by the embodiment of the invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Fig. 1 is a schematic diagram of a connection relationship between front-end and back-end devices according to an embodiment of the present invention. As shown in fig. 1, the software architecture design of the universal front-end measurement and control device of "built-in bus + modular board" mainly faces two problems to be solved: firstly, a software basic framework capable of realizing generalization is designed, and the requirements of different users can be met in the same equipment on the premise of not changing codes; secondly, the basic logic is clear enough, and the method can adapt to different development languages and different operating systems.
The universal carrier rocket ground measurement and control equipment is characterized in that a set of scheme can meet various requirements, namely the equipment architecture is the same, and the measurement and control functions of a power system, a measurement system and a control system can be realized by adjusting the number of chassis and the number of functional board cards. Therefore, the software architecture needs to meet the requirements of devices of different scales, different functions that the software needs to realize are realized by adopting different modules, the different modules are different threads, and the input required by the operation of specific functional modules (such as table number coding in a network protocol, specific instructions of an execution mechanism and the like) is realized through configuration files. The software main program obtains the functions to be completed by reading the configuration files, then starts the threads of the corresponding functional modules, and each thread obtains the required input by reading the configuration files.
Fig. 2 is a structural block diagram of the integrated measurement and control system on the ground of the carrier rocket provided by the embodiment of the invention. As shown in fig. 2, the ground integrated measurement and control system of the launch vehicle comprises a network communication module, an instruction analysis module, a heartbeat detection module, a log module, a bus communication module, a function module (an analog quantity acquisition module, an analog quantity output module, a switching value acquisition module, a switching value output module, and the like), a fault diagnosis module, and a master-slave switching module, wherein information flows among the modules are as shown in fig. 2. The description of each module is as follows:
a) a network communication module: the communication module of the front-end equipment and the upper computer is used for receiving the instruction of the upper computer and sending the state to the upper computer;
b) an instruction analysis module: analyzing the upper computer instruction, reading the configuration file, and notifying different functional threads according to the upper computer instruction and the configuration file to realize task allocation;
c) a heartbeat detection module: and completing the state monitoring and switching functions between the master and the slave (if the double CPUs are redundant).
d) A log module: the independent operation is used for recording key information of software operation, and all modules call the log module to realize the storage of the key log information;
e) a bus communication module: calling a drive (such as a CAN bus or a 485 bus) of a corresponding built-in bus, sending an instruction to a built-in modular board card, and commanding the modular board card to execute a corresponding function;
f) a functional module: each module completes a specific function, such as analog quantity acquisition, state quantity acquisition, time sequence flow, power distribution channel control and the like, and the module can be correspondingly increased or decreased according to the specific running equipment function;
g) a fault diagnosis module: judging whether the current error is a serious error or not according to the running information of the software, if the current error is the serious error (such as hardware failure or abnormal software module and the like), starting a master-slave switching module and requesting to switch a backup machine for execution;
h) a master-slave switching module: and executing specific master-slave switching actions, such as sending/receiving master-slave switching requests, and setting the local machine as a master/slave machine.
The flow of information between the modules is described as follows:
the network communication module is an interface between the whole software and the upper computer and is used for receiving an instruction of the upper computer and sending data to the upper computer, and after receiving the instruction of the upper computer, the network communication module sends the received instruction to the instruction analysis module;
the instruction analysis module compares the instruction with a configuration file, the configuration file is provided with a mapping table of the instruction and specific contents, specific instruction contents are obtained through comparison, a corresponding function module is called according to the instruction contents, and a switching value output module is called if a certain switching value channel needs to be opened;
the functional module is communicated with the modularized board card through an internal bus by calling the bus communication module to command the modularized board card, and the functional module and the modularized board card complete the execution action of the corresponding instruction together; after the execution is finished, judging, if the execution is finished, calling the network communication module to send an execution result to the upper computer, if the execution is not finished (some instructions may need multiple steps to execute), calling the function module again, and if the execution is wrong, sending error information to the fault diagnosis module;
after receiving the error information, the fault diagnosis module compares the error information with the configuration file, if the error information is judged to be a non-serious fault, the fault diagnosis module re-calls the function module to try to execute, and if the fault is a serious fault (repeated non-serious faults are also considered to be serious faults), the fault diagnosis module calls the master-slave switching module to execute an active switching action;
the master-slave switching module receives the master-slave switching instruction, then judges, if the local machine is the master machine, sends a master-slave switching request to the slave machine, then downgrades the local machine to the slave machine, if the local machine is the slave machine, waits for the master-slave switching request of the master machine, and upgrades the local machine to the master machine after receiving the master-slave switching request;
the heartbeat detection module is used for sending heartbeat packets to the opposite machine in real time and monitoring the heartbeat packets of the opposite machine, if the heartbeat packets are abnormal, the heartbeat detection abnormality is sent to the fault diagnosis module, and after the fault diagnosis module receives the heartbeat detection abnormality, master-slave switching can be triggered.
The log module is used for recording key information of software operation and does not participate in the whole instruction processing flow.
The configuration file content comprises network configuration, instruction configuration, heartbeat configuration, log configuration, bus communication configuration, function module configuration, fault diagnosis configuration and master-slave switching configuration, and corresponds to each module.
Taking a certain type of three-level power measurement and control combination as an example, the three-level power measurement and control combination mainly comprises a power supply module, a main control module, a functional module, a bottom plate and the like. The main control module is two Menlow main boards which are redundant with each other, and a real-time operating system is adopted. The function module comprises an analog quantity acquisition module, a switching value input module and a switching value output module, and is used for completing acquisition and control of different signals of each node. The main control module is interconnected with each functional module through a data bus and a management bus, and data acquisition and control of each functional module are completed.
In the three-level power measurement and control combination, the main control module is interconnected with each functional module through a data bus and a management bus, and data acquisition and control of each functional module are completed. The data bus is responsible for roll calling, self-checking, function board control, master-slave switching result downloading of the CPU board and the like; the management bus is responsible for reporting the health state of the board card. The data bus and the management bus are both dual-path redundancy.
Three-level power measurement and control combination embedded measurement and control software runs in the three-level power measurement and control combination and runs on a VxWorks6.8 operating system. The following functions are mainly completed:
a) single point control function: receiving single-point control instructions of three-level power measurement and control command control software, and controlling corresponding electromagnetic valves on the gas distribution table and the arrow to act after logical judgment;
b) the process control function: receiving a process control instruction of the three-level power measurement and control command control software, and finishing corresponding process control actions according to process requirements after logical judgment;
c) the emergency control function: receiving a back-end three-stage emergency control instruction through a front-end emergency channel and a back-end emergency channel, and executing a corresponding emergency procedure control function;
d) state acquisition and feedback functions: feeding back the collected action return command of the internal control channel of the equipment, the state information in the equipment, the state quantity signals of good air release, good release, insertion and release and the like to back-end three-level power command control software;
e) analog quantity acquisition function: and feeding back the acquired analog quantity signals of pressure, temperature and the like of the gas distribution table and the pipeline to the rear-end three-level power command control software.
After the three-level power measurement and control combination is powered on, a VXWorks6.8 operating system is automatically loaded, after system initialization is completed, a normal working mode is entered, and main functions of the embedded measurement and control software of the three-level power measurement and control combination in the normal working mode comprise: initializing each module of the software; periodically communicating with each functional board card (an analog quantity input board, a switching quantity input board and a switching quantity output board) through bus communication (a CAN bus and an RS485 bus), and feeding back information acquired by each functional board card to rear-end three-level power command control software; receiving a control instruction of the three-level power command control software, and controlling the KO board to output after logic judgment; receiving a back-end emergency control instruction, and performing time sequence flow control; the method has a log recording function, and can record and store the log of software operation in a file.
The system comprises a log module, a bus communication module (a CAN bus communication module and an RS485 bus communication module), a functional module (an analog quantity period acquisition module, a switching quantity period acquisition module, a power distribution control module and an automatic flow module), a network communication module, an instruction analysis module, a heartbeat detection module, a master-slave switching module, a fault diagnosis module and the like. The following relationships exist between the various components:
a) all modules call a log module to realize the storage of key log information;
b) the network communication among the power measurement and control systems adopts a universal communication protocol, and all the network communication is realized by calling a network communication module;
c) the instruction analysis module completes single-step control instruction analysis of power distribution output, calls the power distribution control module to complete power distribution output control, calls the automatic flow module to realize an automatic flow control function, calls the CAN bus communication module to complete functions of self-checking, resetting, starting/stopping leakage detection, master-slave switching and the like, and calls the RS485 bus communication module to complete a master-slave switching function;
d) the automatic flow module completes automatic flow instruction analysis and calls a power distribution control module to complete power distribution output control;
e) the power distribution control module calls the CAN bus communication module to complete power distribution output control;
f) the CAN bus period acquisition module calls a CAN bus communication module to complete period communication functions of roll calling, analog quantity acquisition, switching value acquisition, power distribution state acquisition and the like;
g) the RS485 bus cycle acquisition module calls the RS485 bus communication module to complete the cycle communication functions of health state and the like;
h) and the heartbeat detection module calls the CAN bus communication module and the RS485 bus communication module to complete the master-slave switching function.
Designing a configuration file format:
the important data structure in the power measurement and control front-end software is configuration information of each module, most functions of each module can be configured through configuration files, the configuration files adopt an XML format, and the configuration files of each module are designed below.
Master-slave switching configuration:
the master-slave switching configuration defines the enabling state and the master-slave state of the current CPU board, and the contents are as follows:
< flag enable ═ 1 ═ master-slave ═ 1"/>
Log configuration:
the log configuration defines the starting sequence number, the maximum queue length, the output mode and the like of the current log, and the contents are as follows:
if < log FileLimit _ M ═ 500 "checkfrepederiod _ s ═ 3600" diskreferelimit _ M ═ 1024 "file start sequence number ═"1"LogLevel ═" Info "maximum queue length ═ 10000" screen output ═ "1" or if file output ═ 1 "or if network output ═ 0"/> "is present
Network configuration:
the network configuration defines the related configuration of network communication, including the local system code and node code in the network communication protocol, the network configuration of the instruction analysis module, the network configuration of the periodic acquisition, the contents of which are as follows
< network >
< instruction remote port ═ 4107 ═ local port ═ 4021 ═ remote address ═ 192.168.241.7'/>
< instruction remote port ═ 4107 ═ local port ═ 4022 ═ remote address ═ 192.168.241.7'/>
</network >
CAN periodic acquisition configuration:
the CAN periodic acquisition configuration comprises five parts, namely CAN periodic processing, analog quantity acquisition, switching quantity acquisition, emergency control and power distribution acquisition.
The CAN period processing defines a processing period, overtime judgment time, contents acquired by each functional board card period and information of each functional board card, and the contents are as follows:
< CAN periodic processing period ═ 1000"KI processing period ═ 1000" timeout determination time ═ 5 >
< processing type ═ roll name ═ equipment one AD board ═ equipment number ═ 0 ═ most significant bit ═ 0 ═ board card address code ═ 1 ═ board card type code ═ 1 ═/>, and
CAN cycle processing
The analog quantity acquisition defines the table number, the code number, the name, the AD board card serial number, the path and the calculation formula of each analog quantity, and the contents are as follows:
< Collection of simulation amount >
< analog quantity type ═ analog quantity collection "table number ═ 1433", code ═ 1", code ═ X3-BP _ G35A", name ═ 35MPa high-pressure air source pressure "AD board a ═ 1", AD board B ═ 2", number of paths ═ 1", formula ═ X ═ 6.748830132975+1.29278762544283 "/>)
[ analog quantity Collection ]
The switching value acquisition defines the table number, the code, the name and the KI board card serial number and the path of each switching value, and the contents are as follows:
< acquisition of switching value >
The switching value type is equal to the switching value acquisition table number, the coding is equal to the switching value acquisition table number, the coding is equal to the coding 10, the name is equal to the switching value acquisition table number, the switching value acquisition table number is equal to the switching value acquisition table number, the coding is equal to the coding 10, the switching value acquisition table number is equal to the switching value acquisition table number, the coding is equal to the switching value acquisition table number, the coding is equal to the switching value acquisition table number, the switching value acquisition table number is equal to the switching value acquisition type, the switching value acquisition table number is equal to the switching value acquisition table number, the switching value acquisition type, the switching value acquisition table number is equal to the switching value acquisition table number of the switching value acquisition table number, the switching value acquisition type, the switching value acquisition table number of the switching value acquisition table number, the switching value acquisition table number is equal to the switching value acquisition type, the switching value acquisition table number is equal to the switching value acquisition table number, the switching value acquisition table number is equal to the switching value acquisition table number, the switching value acquisition table number
[ switching value acquisition ]
The emergency control defines the name of each emergency control, the serial number of the KI board card and a path, and the content is as follows:
< Emergency control >
The emergency control type is as follows, the name of the emergency control is as follows, the KI board card is as follows, the number of paths is as follows, the name of the hydrogen box is as follows, the name of the emergency control, the name of the emergency control is as follows, the 1, the number of paths is as follows, the number of paths, the number of paths is as follows, the number of paths, the number of paths, the number of paths of the number of paths is as follows, the number of paths of the number of paths of the number of paths of the
[ Emergency control ]
The power distribution acquisition defines table number, code number, name, KO board card serial number and path of each power distribution acquisition, and the contents are as follows:
< Collection of Power distribution >
< type is gathered in distribution ═ distribution "table number ═ 1442" the code ═ 1 "the code ═ 3BQ" the name ═ tertiary hydrogen of core, oxygen pump front valve switch chamber control solenoid valve (high), "control integrated circuit board A ═ 7" control integrated circuit board B ═ 8 "way number ═ 1"/>
[ Collection of Power distribution ]
RS485 periodic acquisition configuration:
RS485 cycle processing defines a processing cycle, overtime judgment time, contents acquired by each functional board card cycle and information of each functional board card, and the contents are as follows:
< RS485 cycle processing cycle ═ 500 "timeout determination time ═ 100 >
If the processing type is "health status query," name is "device AD board," device number is "0," most significant bit is "0," board card address code is "1," board card type code is "1"/>
< RS485 period treatment >
Power distribution control configuration:
the power distribution control defines overtime judgment time, and the board card serial numbers and information of the functional board cards have the following contents:
< switching value control timeout judging time ═ 1 >
If the processing type is "switching value output", the board serial number is "1", the device number is "0", the most significant bit is "0", the board address code is "4", the board type code is "4"/>
[ control of switching value ]
And (3) control instruction configuration:
the control instruction configuration defines the type, table number, code and name of the control instruction, if the control instruction is distribution point control or energy-saving distribution control, the control instruction also has a code number, a board card serial number and a path, and the content is as follows:
< control instruction set >
The command type is "power distribution control" table number is "1433", code is "1", code is "X3-DJQ1", name is "JQ 1 cut-off pressure reducing valve", control board card a is "1", control board card B is "2", number of circuits is "1"/>
</control instruction set >
Automatic flow configuration:
the automatic flow configuration defines the name of the automatic flow, the code number, the output value and the time delay of each action, and the contents are as follows:
< automatic flow set >
Automatic process name ═ hydrogen pump box blow off >
< operation digital quantity output code ═ X3-CD1A ═ 1 "delay ═ 0"/>
< operation digital quantity output code ═ X3-CD1B ═ 1 "delay ═ 0"/>
< operation digital quantity output code ═ 3FK-H-I ═ 1 "delay ═ 60"/>
< operation digital quantity output code ═ 3FK-H-II "output value ═ 1" delay ═ 0"/>
< operation digital quantity output code ═ 3YX-H-I ═ 1 "delay ═ 120"/>
< operation digital quantity output code ═ 3YX-H-II "output value ═ 1" delay ═ 0"/>
< operation digital quantity output code ═ 3FK-H-I ═ 0"/>, delay time ═ 0 >
< operation digital quantity output code ═ 3FK-H-II "output value ═ 0" delay ═ 0"/>
Automatic flow
Automatic flow set
Fault diagnosis configuration:
< Fault diagnosis >
< fault code ═ 101 ═ fault flag ═ severe "fault name ═ heartbeat anomaly"/>, and
< fault code ═ 201 ═ fault flag ═ non-critical "fault name ═ bus communication timeout'/>, and
[ Fault diagnosis ]
According to the invention, different functions corresponding to different modules are realized through the characteristics of the software function modules, different functions are realized through different modules, the modules are mutually independent, and the expansion and cutting of the functions are convenient; the invention realizes the whole software architecture by the characteristics of the software main body and the eight modules, adopts the design idea of multithreading, and simultaneously executes a plurality of functions to ensure the real-time performance; the system is suitable for various development languages and can be compatible with various operating systems; the invention realizes that the device with different scales and different functions can be adapted by modifying the configuration file without modifying codes through the characteristics of the software configuration file.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.

Claims (7)

1. A ground integrated measurement and control system of a carrier rocket is characterized by comprising: the system comprises a network communication module, an instruction analysis module, a heartbeat detection module, a bus communication module, a functional module, a fault diagnosis module and a master-slave switching module; wherein,
after receiving the instruction of the upper computer, the network communication module sends the received instruction to the instruction analysis module;
the instruction analysis module compares the instruction with a preset configuration file, the configuration file is provided with a mapping table of the instruction and specific content, specific instruction content is obtained through comparison, and a module corresponding to the instruction content in the functional module is called according to the instruction content;
the functional module is communicated with the modularized board card through an internal bus by calling the bus communication module to command the modularized board card, and the functional module and the modularized board card complete the execution action of the corresponding instruction together; after the execution is finished, judging, if the execution is finished, calling the network communication module to send an execution result to the upper computer, if the execution is not finished, calling the function module again, and if the execution is wrong, sending error information to the fault diagnosis module;
after the fault diagnosis module receives the error information, comparing the error information with a preset configuration file, if the error information is judged to be a non-serious fault, calling the functional module again to try execution, and if the error information is a serious fault, calling the master-slave switching module to execute an active switching action;
the master-slave switching module receives the master-slave switching instruction, then judges, if the local machine is the master machine, sends a master-slave switching request to the slave machine, then downgrades the local machine to the slave machine, if the local machine is the slave machine, waits for the master-slave switching request of the master machine, and upgrades the local machine to the master machine after receiving the master-slave switching request;
the heartbeat detection module is used for sending heartbeat packets to the opposite machine in real time and monitoring the heartbeat packets of the opposite machine, if the heartbeat packets are abnormal, the heartbeat detection abnormality is sent to the fault diagnosis module, and after the fault diagnosis module receives the heartbeat detection abnormality, master-slave switching can be triggered.
2. The launch vehicle ground integrated measurement and control system of claim 1, further comprising: a log module; the log module is used for recording the information of software operation.
3. The launch vehicle ground integrated measurement and control system of claim 1, wherein: the network communication module is an interface between the whole software and the upper computer and is used for receiving instructions of the upper computer and sending data to the upper computer.
4. The launch vehicle ground integrated measurement and control system of claim 1, wherein: the function module comprises an analog quantity acquisition module, an analog quantity output module, a switching value acquisition module and a switching value output module; wherein,
if the specific instruction content is that a certain switching value channel needs to be opened, calling a switching value output module;
if the specific instruction content is that switching value is required to be acquired, calling a switching value acquisition module;
if the specific instruction content is that a certain analog channel needs to be opened, calling an analog output module;
and if the specific instruction content is that the analog quantity needs to be collected, calling an analog quantity collection module.
5. The launch vehicle ground integrated measurement and control system of claim 1, wherein: repeated non-catastrophic failures multiple times are also considered critical failures.
6. The launch vehicle ground integrated measurement and control system of claim 1, wherein: the preset configuration file content comprises network configuration, instruction configuration, heartbeat configuration, log configuration, bus communication configuration, function module configuration, fault diagnosis configuration and master-slave switching configuration.
7. The launch vehicle ground integrated measurement and control system of claim 1, wherein: the failure of hardware or the abnormality of a certain software module is a serious fault.
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