Research On Key Technology In Dual-channel Redundant Flight Control Computer

High-altitude long-endurance UAV costs high, and performs long-endurance task, thus thesystem has higher reliability and security requirements. As an important part of the UAV system, it isnecessary to improve the safety of flight control system, which using highly reliable flightcontrol computer is an effective means. Based on this demand, this paper launched a research on keytechnology in dual-channel redundant flight control computer on the basis of existing research results.First, according to structural features of the original sample redundant flight control computer,research on reliability analysis and demonstration was conducted, and the improvement of the originalsystem’s structure was pointed out, then the system structure optimization was carried out: CPUnumber and IO channels are designed as four and dual redundant configuration respectively. Second,depending on system configuration its redundancy management program and algorithm design werecompleted: including system fault detection strategy and system reconstruction logic, and thatachieved redundancy management of system redundant sources. Third, by using existing CAN bustechnology, the CAN bus communication program and protocol design were completed: including thebus cycle time division and data scheduling scheme and algorithm, while the bus load performance ofsystem was analyzed. Finally, according to the overloading problem of CAN bus, the research onFlexRay, a new communication protocol with superior performance, was launched, which includinghardware and communication software design, and the performance of the node was analyzed.To verify the correctness of project design and algorithms and the feasibility of designimplementation, flight control computer functionality and performance testing programs weredesigned and tested. For the dual-channel redundant flight control computer, semi-physicalsimulation flight test platform was built, then the whole process simulation of UAV includingautonomous take-off、autonomous flight and autonomous landing was achieved, which verified thecorrectness of the flight control、redundancy management and fault isolation and appropriateperformance indicators; in addition, for the design of FlexRay bus node, long time communicationtests within the simulation of flight control computer internal data communication both at roomtemperature and-45℃low temperature were taken, and the correct results verified the performance ofFlexRay bus which can fully meet the requirements of the new flight control computer.