Design & Reseach On Redundant Flight Control Computer For UAV

For the high reliability and performance of the flight control system for the high-altitude and long-endurance UAVs, an overall program of redundancy flight control computer for UAV based on CAN bus was designed and achieved in this paper. And for the structural features of the flight control computer designed, the strategy of redundancy management and the synchronization was developed, the design of internal communication and data link was rasied in this paper.Firstly, contrary the design of the system and the structural features of the hardware of the sample redundant flight control computer, the strategy of monitoring and fault-detect based on the status of the bus node and the output vote was designed. It achieved the location of fault and the logic of system when there was fault in the system. At the same time, the redundancy management of center process units, internal buses, channels of input and output was realized.Secondly, the data link of the flight control computer was designed, including input data link, cross communication data link and the output data link. At the same time, this paper realized the initialization of synchronization and re-synchronization when the asynchronous degree was out of the maximum, by the consistency synchronization algorithm based on mean value.Thirdly, with analysising the protocol of TTCAN and CANaerospace, the protocol of internal communication was developed, including the structure of the protocol-frame and the data-frame, and the program of the data scheduling.At last, relevant experiments were designed and finished for the sample flight control computer to test and verify the correctness, rationality and feasibility of the program proposed in this paper. The results showed that: the overall program was reasonable, and realized the function of fault-tolerance; and the performance of the the sample flight control computer met the design requirements.