Status Monitoring And Redundancy Management Technical Research On CAN Bus Flight Control Computer

With the rapid development of UAV,large high-end UAV design goal has become gradually characterized by high-altitude,long-time flight.Meanwhile,leading to such problems as "tough working conditions,long working time",and etc.Therefore,the reliability of UAV made more rigorous requirements.As the core component of UAV,flight control computer reliability is particularly important.Aiming at "high reliability,high scalability,high maintainability",this paper carries out the condition monitoring and redundancy management technique based on the hardware of CAN bus flight control computer the study.In order to improve the state monitoring function of flight control computer,which needs to combine with the software and hardware.Software condition monitoring system,using ?C/OS on MPC555 real-time operating system transplant,optimization and encapsulation,has successfully monitored the task stack,the task running time,task CPU load,CPU load,memory size,and CAN bus condition.Hardware condition monitoring interface layer is classified into interface card hardware condition monitoring and hardware status monitoring system function layer.The former monitors analog and digital resources by including additional monitoring link of hardware,wheeas the latter can be divided into the link monitoring and effective word monitoring sensor.The frequency method is used to monitor the state of the sensor link,and the effective word of the sensor is monitored by means of position comparison.Redundancy strategy,using the closed loop redundancy strategy,employs the "collaborative law" as a fault-tolerant strategy,and has the techniques of the system control unit level,fault diagnosis,system reconstruction and recovery,finally making redundancy management functions solely through its own board possible,In view of the developed self-closed loop redundancy technology,a real-time simulation system is used to test the fault-tolerant function comprehensively.The results show that the hardware and software state monitoring has met the design requirements,and the self-closed loop redundancy technology is complete and reliable.