技术领域technical field
本公开涉及电传飞行控制系统余度管理技术，尤其涉及一种四余度信号监控表决方法和设备。The present disclosure relates to redundancy management technology of fly-by-wire flight control system, and in particular to a four-redundancy signal monitoring and voting method and equipment.
背景技术Background technique
电传飞行控制系统的应用，给优化飞机性能，减轻驾驶员负担提供了契机，但也带来了一定风险。例如，传统的机械式或液压式操纵系统通常是逐渐失效的，而电传飞行控制系统中飞行控制计算机或传感器的失效会使飞机立即处于不可控制状态，这使电传操纵系统的一些优点变得没有意义。为了解决此问题，电传飞行控制系统设计中普遍采用多余度容错体系架构。即从飞控计算机、传感器到作动器的配置都存在余度。The application of fly-by-wire flight control system provides an opportunity to optimize aircraft performance and reduce the burden on pilots, but it also brings certain risks. For example, traditional mechanical or hydraulic control systems usually fail gradually, while the failure of the flight control computer or sensors in the fly-by-wire flight control system will immediately make the aircraft uncontrollable, which makes some of the advantages of the fly-by-wire control system irrelevant. It doesn't make sense. In order to solve this problem, redundant fault-tolerant architecture is generally adopted in the design of fly-by-wire flight control system. That is, there is a margin in the configuration from the flight control computer, sensors to actuators.
所谓余度技术就是引入多重(套)系统来执行同一指令或是同一项工作的任务。这些系统相互之间独立在各自的运行通道。系统的通道数目(余度数)的增多能够极大提高任务的安全系数。The so-called redundant technology is the introduction of multiple (sets) systems to perform the same command or the same task. These systems are independent of each other in their respective operating channels. The increase in the number of channels (redundancy) of the system can greatly improve the safety factor of the task.
余度管理技术是电传飞行控制系统设计的关键。其目的是提高电传飞行控制系统的安全性和可靠性，保证电传飞控系统在余度部件故障时能够实时检测出故障，诊断故障类型，随后对故障进行处理并完成系统重构。确保系统发生故障时，将系统的性能损失降低到最小，从而保证飞行安全。Redundancy management technology is the key to fly-by-wire flight control system design. Its purpose is to improve the safety and reliability of the fly-by-wire flight control system, ensure that the fly-by-wire flight control system can detect faults in real time when redundant components fail, diagnose the type of fault, and then process the fault and complete system reconstruction. To ensure that when the system fails, the performance loss of the system is reduced to a minimum, so as to ensure flight safety.
在有人驾驶飞机电传飞行控制系统的设计中，基本上都采用了四余度的体系架构。不同于二余度及三余度系统，四余度信号在余度管理时，复杂度极大提高，降低了电传飞行控制系统的运行效率。In the design of fly-by-wire flight control system of manned aircraft, the four-redundancy architecture is basically adopted. Different from two-redundancy and three-redundancy systems, the complexity of four-redundancy signal management is greatly increased, which reduces the operating efficiency of the fly-by-wire flight control system.
发明内容Contents of the invention
本公开旨在提供一种更加简单且运行效率更高的四余度信号监控表决方法。The present disclosure aims to provide a simpler and more efficient four-redundancy signal monitoring voting method.
根据本公开的一方面，提供一种四余度信号监控表决方法。设四余度信号为Y1、Y2、Y3、Y4，该方法包括：在所有信号均正常的情况下，使用其中的三个信号Y1、Y2、Y3进行余度监控与表决，将Y4作为备用信号；其中，在Y1、Y2、Y3信号均正常时，以Y1、Y2、Y3信号的表决值YO对Y4信号进行监控，以确定Y4信号是否正常；以及当Y1、Y2、Y3信号发现异常时，通过备用信号Y4对异常信号进行辅助确定，以确认故障。According to an aspect of the present disclosure, a four-redundancy signal monitoring voting method is provided. Let the four redundancy signals be Y1, Y2, Y3, and Y4. The method includes: when all signals are normal, use three of the signals Y1, Y2, and Y3 for redundancy monitoring and voting, and use Y4 as a backup signal Wherein, when Y1, Y2, and Y3 signals are all normal, the Y4 signal is monitored with the voting value YO of the Y1, Y2, and Y3 signals to determine whether the Y4 signal is normal; and when the Y1, Y2, and Y3 signals are found to be abnormal, Auxiliary determination of the abnormal signal is carried out through the backup signal Y4 to confirm the fault.
根据一个实施例，可以对信号Y1、Y2、Y3按照三余度策略进行监控与表决，如果未发现信号异常，则可以输出三余度的表决值YO，并通过表决值YO监控Y4信号。According to an embodiment, the signals Y1, Y2, and Y3 can be monitored and voted according to the three-redundancy strategy. If no signal abnormality is found, the three-redundancy voting value YO can be output, and the Y4 signal can be monitored through the voting value YO.
根据另一个实施例，如果表决值YO与Y4信号的差值的绝对值大于监控门限L，则可以确定Y4信号故障。According to another embodiment, if the absolute value of the difference between the voting value YO and the Y4 signal is greater than the monitoring threshold L, it may be determined that the Y4 signal is faulty.
根据另一个实施例，当Y1、Y2、Y3信号发现异常时，通过备用信号Y4对异常信号进行辅助确定，以确认故障可以包括：1)若仅信号Y1异常，执行三余度信号Y2、Y3、Y4监控表决算法：A)若未发现信号异常，则输出三余度表决值，确定Y1故障；B)若发现Y4异常，进一步确定Y1与Y4之差绝对值是否小于监控门限值L：a)若小于门限值L，则确定为四余度信号2:2故障，确定所有四信号Y1、Y2、Y3、Y4故障；b)若大于门限值L，则确定信号Y1、Y4故障；2)若仅信号Y2异常，执行三余度信号Y1、Y3、Y4监控表决算法：A)若未发现信号异常，则输出三余度表决值，确定Y2故障；B)若发现Y4异常，进一步确定Y2与Y4之差绝对值是否小于监控门限值L：a)若小于门限值L，则判为四余度信号2:2故障，确定所有四信号Y1、Y2、Y3、Y4故障；b)若大于门限值L，则确定信号Y2、Y4故障；3)若仅信号Y3异常，执行三余度信号Y1、Y2、Y4监控表决算法：A)若未发现信号异常，则输出三余度表决值，确定Y3故障；B)若发现Y4异常，进一步确定Y3与Y4之差绝对值是否小于监控门限值L：a)若小于门限值L，则判为四余度信号2:2故障，确定所有四信号Y1、Y2、Y3、Y4故障；b)若大于门限值L，则置信号Y3、Y4故障；4)若三信号均异常，则通过信号Y4进一步对信号Y1、Y2、Y3是否异常进行确认，若信号Y4与对应信号之差的绝对值大于监控门限L，则确定该信号故障。According to another embodiment, when the Y1, Y2, and Y3 signals are found to be abnormal, the auxiliary signal Y4 is used to assist in determining the abnormal signal, so as to confirm the fault may include: 1) If only the signal Y1 is abnormal, execute the triple-redundancy signal Y2, Y3 , Y4 monitoring and voting algorithm: A) If no signal abnormality is found, output a three-redundancy voting value to determine the fault of Y1; B) If Y4 is found to be abnormal, further determine whether the absolute value of the difference between Y1 and Y4 is less than the monitoring threshold value L: a) If it is less than the threshold value L, it is determined that the four-redundancy signal 2:2 is faulty, and all four signals Y1, Y2, Y3, and Y4 are determined to be faulty; b) If it is greater than the threshold value L, then it is determined that the signals Y1, Y4 are faulty ; 2) If only the signal Y2 is abnormal, execute the three-redundancy signal Y1, Y3, Y4 monitoring voting algorithm: A) If no signal abnormality is found, then output the three-redundancy voting value to determine the Y2 fault; B) If Y4 is found to be abnormal, Further determine whether the absolute value of the difference between Y2 and Y4 is less than the monitoring threshold value L: a) If it is less than the threshold value L, it is judged as a 2:2 fault of the four-redundancy signal, and all four signals Y1, Y2, Y3, and Y4 are determined to be faulty ; b) If it is greater than the threshold value L, then determine that the signals Y2 and Y4 are faulty; 3) If only the signal Y3 is abnormal, execute the three-redundancy signal Y1, Y2, Y4 monitoring voting algorithm: A) If no signal abnormality is found, output Three-redundancy voting value to determine Y3 failure; B) If Y4 is found to be abnormal, further determine whether the absolute value of the difference between Y3 and Y4 is less than the monitoring threshold L: a) If it is less than the threshold L, it is judged as a four-redundancy signal 2: 2 faults, determine the faults of all four signals Y1, Y2, Y3, and Y4; b) If it is greater than the threshold value L, set the signals Y3 and Y4 to fault; 4) If the three signals are abnormal, then pass the signal Y4 to further signal Check whether Y1, Y2, and Y3 are abnormal. If the absolute value of the difference between the signal Y4 and the corresponding signal is greater than the monitoring threshold L, it is determined that the signal is faulty.
根据另一个实施例，在四余度信号Y1、Y2、Y3、Y4存在一次故障时，可以对其余信号进行三余度的监控表决。According to another embodiment, when the four-redundancy signals Y1 , Y2 , Y3 , and Y4 fail once, three-redundancy monitoring and voting can be performed on the remaining signals.
根据另一个实施例，在四余度信号Y1、Y2、Y3、Y4存在二次故障时，可以对其余信号进行二余度的监控表决。According to another embodiment, when the four-redundancy signals Y1, Y2, Y3, and Y4 have secondary faults, a two-redundancy monitoring vote can be performed on the remaining signals.
根据另一个实施例，在四余度信号Y1、Y2、Y3、Y4存在三次以上故障时，可以输出故障安全值。According to another embodiment, when there are more than three faults in the four-redundancy signals Y1, Y2, Y3, Y4, a fail-safe value may be output.
根据本发明的一方面，提供一种四余度信号监控表决设备。设四余度信号为Y1、Y2、Y3、Y4，该设备包括：第一监控表决单元，用于在所有信号均正常的情况下，使用Y1、Y2、Y3、Y4中的三个信号Y1、Y2、Y3进行余度监控与表决；第二监控表决单元，用于基于第一监控表决单元的输出，在Y1、Y2、Y3信号均正常时，以Y1、Y2、Y3信号的表决值YO对信号Y4进行监控，以确定Y4信号是否正常；以及故障确定单元，用于在Y1、Y2、Y3信号发现异常时，通过使用备用信号Y4对异常信号进行辅助确定，以确认故障。According to one aspect of the present invention, a four-redundancy signal monitoring and voting device is provided. Let the four redundant signals be Y1, Y2, Y3, and Y4. The device includes: a first monitoring and voting unit, which is used to use the three signals Y1, Y2, Y3, and Y4 of Y1, Y2, Y3, and Y4 when all signals are normal. Y2 and Y3 perform redundancy monitoring and voting; the second monitoring and voting unit is used to control the output of the first monitoring and voting unit based on the output of the first monitoring and voting unit. The signal Y4 is monitored to determine whether the Y4 signal is normal; and the fault determination unit is used to confirm the fault by using the backup signal Y4 to assist in determining the abnormal signal when abnormalities are found in the Y1, Y2, and Y3 signals.
根据本公开的四余度信号监控表决方法和设备通过四余度信号表决的三余度分解，简化了对四余度信号的处理算法，降低了四余度信号监控表决的时间复杂度，提高了工作效率。According to the four-redundancy signal monitoring and voting method and equipment of the present disclosure, the three-redundancy decomposition of the four-redundancy signal voting simplifies the processing algorithm for the four-redundancy signal, reduces the time complexity of the four-redundancy signal monitoring and voting, and improves work efficiency.
附图说明Description of drawings
图1是例示根据本公开实施例的四余度信号监控表决方法的流程图。FIG. 1 is a flowchart illustrating a four-redundancy signal monitoring voting method according to an embodiment of the present disclosure.
图2是例示根据本公开实施例的四余度信号监控表决设备的结构框图。Fig. 2 is a structural block diagram illustrating a four-redundancy signal monitoring and voting device according to an embodiment of the present disclosure.
图3是例示根据本公开实施例的四余度信号的三余度分解监控表决方法的流程图。FIG. 3 is a flowchart illustrating a three-redundancy decomposition monitoring voting method for a four-redundancy signal according to an embodiment of the present disclosure.
图4是例示根据本公开实施例的降级的三余度监控表决的流程图。4 is a flow diagram illustrating degraded triple-redundancy monitoring voting according to an embodiment of the disclosure.
图5是例示根据本公开实施例的降级的二余度监控表决的流程图。5 is a flow diagram illustrating degraded dual-redundancy monitoring voting according to an embodiment of the disclosure.
具体实施方式Detailed ways
下面结合附图对本公开进行详细描述。The present disclosure will be described in detail below in conjunction with the accompanying drawings.
首先，为了便于理解本公开提供的四余度监控表决方法，对常规的四余度表方法及三余度表决方法进行描述。First, in order to facilitate the understanding of the four-redundancy monitoring voting method provided by the present disclosure, the conventional four-redundancy table method and three-redundancy voting method are described.
常规四余度信号表决方法Conventional four-redundancy signal voting method
用A，B，C，D分别代表四余度信息，设A.d、B.d、C.d、D.d表示某通道数据大小，A.No、B.No、C.No、D.No表示具体的通道排号。Use A, B, C, and D to represent the four redundancy information respectively, let A.d, B.d, C.d, and D.d represent the data size of a certain channel, and A.No, B.No, C.No, and D.No represent the specific channel number .
首先，按照信号数据大小对其进行排序。例如，A.d≥B.d≥C.d≥D.d，并设定信号偏差门限值L。First, sort the signal data by its size. For example, A.d≥B.d≥C.d≥D.d, and set the signal deviation threshold L.
然后，计算各信号数据两两的插值：Δ1＝A.d-B.d、Δ2＝B.d-C.d、Δ3＝C.d-D.d、Δ4＝A.d-D.d、Δ5＝A.d-C.d、Δ6＝B.d-D.d。Then, calculate the interpolation of each signal data in pairs: Δ1 =Ad-Bd, Δ2 =Bd-Cd, Δ3 =Cd-Dd, Δ4 =Ad-Dd, Δ5 =Ad-Cd, Δ6 =Bd -Dd.
则，如果以VO表示表决值，四余度模拟信号表决方法如下面的表1所示。Then, if VO is used to represent the voting value, the four-redundancy analog signal voting method is shown in Table 1 below.
表1Table 1
当四余度信号发生不确定故障(如2:2故障)时，给出故障安全结果。如果某信号瞬态故障持续多拍(根据情况给定)，则称该信号出现永久故障；如果所有信号都没有出现永久故障，表决结果选次大、次小平均值输出；如果有一个输入信号出现永久故障，系统进入三余度表决。When uncertain faults (such as 2:2 faults) occur on four-redundancy signals, fail-safe results are given. If the transient failure of a certain signal lasts for multiple beats (given according to the situation), it is said that the signal has a permanent failure; if all signals do not have a permanent failure, the voting result will choose the second largest and second smallest average value output; if there is an input signal In the event of a permanent failure, the system enters triple-redundancy voting.
常规三余度信号表决方法Conventional three-redundancy signal voting method
用A，B，C分别代表三余度信息，设A.d、B.d、C.d表示某通道数据大小，A.No、B.No、C.No表示具体的通道排号。Use A, B, and C to represent the three-redundancy information respectively, let A.d, B.d, and C.d represent the data size of a certain channel, and A.No, B.No, and C.No represent the specific channel number.
首先，按照信号数据大小对其进行排序，即A.d≥B.d≥C.d。并且，设定信号偏差门限值L。First, sort them according to the signal data size, that is, A.d≥B.d≥C.d. In addition, a signal deviation threshold L is set.
然后，计算各信号数据两两的插值：Δ1＝A.d-B.d、Δ2＝B.d-C.d、Δ3＝A.d-C.d。Then, two-by-two interpolation of each signal data is calculated: Δ1 =Ad-Bd, Δ2 =Bd-Cd, Δ3 =Ad-Cd.
则，如果以VO表示表决值，三余度模拟信号表决方法如下面的表2所示。Then, if VO is used to represent the voting value, the voting method of the three-redundancy analog signal is shown in Table 2 below.
表2Table 2
如果有一个信号出现永久故障，系统进入二余度表决。二余度表决情况下，若二个信号的误差不超过门限值，则取二个信号的平均值输出；二余度表决情况下，若二个信号的误差超过门限值，则给出出错标。同样，当发生不确定故障(1:1:1)故障时，给出故障安全结果。If there is a permanent failure of one signal, the system enters a second-degree voting. In the case of double-redundancy voting, if the error of the two signals does not exceed the threshold value, the average value of the two signals is output; in the case of double-redundancy voting, if the error of the two signals exceeds the threshold value, it is given Error mark. Also, when an indeterminate fault (1:1:1) fault occurs, a fail-safe result is given.
相比二余度的比较策略以及三余度的中值策略，四余度信号的余度管理方法显得极其复杂，导致其方法的复杂度大大提高。当系统中的余度信号较多时，采用现有常规方法将极大地降低系统的运行效率。Compared with the two-redundancy comparison strategy and the three-redundancy median strategy, the four-redundancy signal redundancy management method is extremely complicated, which greatly increases the complexity of the method. When there are many redundancy signals in the system, the operating efficiency of the system will be greatly reduced by using the existing conventional method.
图1是例示根据本公开实施例的四余度信号监控表决方法的流程图。FIG. 1 is a flowchart illustrating a four-redundancy signal monitoring voting method according to an embodiment of the present disclosure.
设四余度信号为Y1、Y2、Y3、Y4，如图1所示，在步骤S101中，在所有信号Y1、Y2、Y3、Y4均正常的情况下，将Y4作为备用信号，使用其中的三个信号Y1、Y2、Y3进行余度监控与表决。信号Y1、Y2、Y3的监控和表决可以根据常规三余度监控和表决方法进行。Let the four-redundancy signals be Y1, Y2, Y3, and Y4, as shown in Figure 1, in step S101, when all the signals Y1, Y2, Y3, and Y4 are normal, Y4 is used as a backup signal, and the The three signals Y1, Y2 and Y3 are used for redundancy monitoring and voting. The monitoring and voting of the signals Y1, Y2, Y3 can be carried out according to the conventional three-redundancy monitoring and voting method.
当在步骤S102中确定Y1、Y2、Y3信号均正常时，在步骤S103中，以Y1、Y2、Y3信号的表决值YO对Y4信号进行监控，以确定Y4信号是否正常。例如，在一个实施例中，可以对信号Y1、Y2、Y3按照常规三余度策略进行监控与表决，如果未发现信号异常，则输出三余度的表决值YO，并通过所述表决值YO监控Y4信号。When it is determined in step S102 that the Y1, Y2, and Y3 signals are all normal, in step S103, the Y4 signal is monitored with the voting value YO of the Y1, Y2, and Y3 signals to determine whether the Y4 signal is normal. For example, in one embodiment, the signals Y1, Y2, and Y3 can be monitored and voted according to the conventional three-redundancy strategy. If no signal abnormality is found, the three-redundancy voting value YO is output, and the voting value YO is passed. Monitor the Y4 signal.
当在步骤S102中确定Y1、Y2、Y3信号发生异常时，在步骤S104中，通过备用信号Y4对异常信号进行辅助确定，以确认故障。例如，在一个实施例中，如果表决值YO与Y4信号的差值的绝对值大于监控门限L，则可以确定Y4信号故障。When it is determined in step S102 that the signals Y1, Y2, and Y3 are abnormal, in step S104, the auxiliary signal Y4 is used to assist in determining the abnormal signal, so as to confirm the fault. For example, in one embodiment, if the absolute value of the difference between the voting value YO and the Y4 signal is greater than the monitoring threshold L, it may be determined that the Y4 signal is faulty.
图2是例示根据本公开实施例的四余度信号监控表决设备200的结构框图。设四余度信号为Y1、Y2、Y3、Y4，四余度信号监控表决设备200包括：第一监控表决单元201、第二监控表决单元202以及故障确定单元203。Fig. 2 is a structural block diagram illustrating a four-redundancy signal monitoring and voting device 200 according to an embodiment of the present disclosure. Let the four-redundancy signals be Y1 , Y2 , Y3 , and Y4 , and the four-redundancy signal monitoring and voting device 200 includes: a first monitoring and voting unit 201 , a second monitoring and voting unit 202 , and a fault determination unit 203 .
第一监控表决单元201在所有信号Y1、Y2、Y3、Y4均正常(例如，在监控表决的初始，认为所有信号均正常)的情况下，使用Y1、Y2、Y3、Y4中的三个信号Y1、Y2、Y3进行余度监控与表决。第二监控表决单元202基于第一监控表决单元201的输出，在Y1、Y2、Y3信号均正常时，以Y1、Y2、Y3信号的表决值YO对信号Y4进行监控，以确定Y4信号是否正常。故障确定单元203同样基于第一监控表决单元201的输出，在Y1、Y2、Y3信号发现异常时，通过使用备用信号Y4对异常信号进行辅助确定，以确认故障。The first monitoring and voting unit 201 uses three signals in Y1, Y2, Y3, and Y4 when all signals Y1, Y2, Y3, and Y4 are normal (for example, at the initial stage of monitoring and voting, it is considered that all signals are normal). Y1, Y2, and Y3 conduct redundancy monitoring and voting. Based on the output of the first monitoring and voting unit 201, the second monitoring and voting unit 202 monitors the signal Y4 with the voting value YO of the Y1, Y2 and Y3 signals when the Y1, Y2 and Y3 signals are all normal, to determine whether the Y4 signal is normal . The fault determining unit 203 is also based on the output of the first monitoring and voting unit 201, and when abnormalities are found in the Y1, Y2, Y3 signals, it uses the backup signal Y4 to assist in determining the abnormal signals to confirm the fault.
下面将结合图3至图5详细描述根据本公开的四余度监控与表决的示例性实施例。图3是例示根据本公开实施例的四余度信号的三余度分解监控表决方法的流程图。An exemplary embodiment of four-redundancy monitoring and voting according to the present disclosure will be described in detail below with reference to FIGS. 3 to 5 . FIG. 3 is a flowchart illustrating a three-redundancy decomposition monitoring voting method for a four-redundancy signal according to an embodiment of the present disclosure.
对于四余度信号Y1、Y2、Y3、Y4，在所有信号均正常的情况下，优先选用三个信号Y1、Y2、Y3进行余度表决与监控，Y4作为备用信号。如图3所示，其中，R3(Y1,Y2,Y3)表示信号Y1、Y2、Y3的三余度监控；R3(Y2,Y3,Y4)表示信号Y2、Y3、Y4的三余度监控；R3(Y1,Y3,Y4)表示信号Y1、Y3、Y4的三余度监控；R3(Y1,Y2,Y4)表示信号Y1、Y2、Y4的三余度监控；YO＝R3(Y1,Y2,Y3)_V表示信号Y1、Y2、Y3的三余度表决值；YO＝Y_safe表示输出安全值。R3(Y1,Y2,Y3)可以仅确定信号异常。对于异常信号需进一步确认是否故障，Y1_F、Y2_F、Y3_F、Y4_F分别代表所对应的信号是否故障。For the four redundancy signals Y1, Y2, Y3, Y4, when all signals are normal, three signals Y1, Y2, Y3 are preferred for redundancy voting and monitoring, and Y4 is used as a backup signal. As shown in Figure 3, R3(Y1, Y2, Y3) represents the three-redundancy monitoring of signals Y1, Y2, and Y3; R3 (Y2, Y3, Y4) represents the three-redundancy monitoring of signals Y2, Y3, and Y4; R3(Y1, Y3, Y4) represents the triple redundancy monitoring of signals Y1, Y3, Y4; R3(Y1, Y2, Y4) represents the triple redundancy monitoring of signals Y1, Y2, Y4; YO=R3(Y1, Y2, Y3)_V represents the three-redundancy voting value of signals Y1, Y2, and Y3; YO=Y_safe represents an output safe value. R3(Y1, Y2, Y3) can only determine that the signal is abnormal. For abnormal signals, it is necessary to further confirm whether they are faulty. Y1_F, Y2_F, Y3_F, and Y4_F respectively represent whether the corresponding signals are faulty.
如图3中所示，对信号Y1、Y2、Y3按照三余度策略进行表决与监控。若未发现信号异常，输出三余度的表决值，并通过监控表决值监控Y4信号。若表决值与Y4信号差值绝对值大于监控门限L时，确定Y4信号故障。As shown in FIG. 3, the signals Y1, Y2, and Y3 are voted and monitored according to the three-redundancy strategy. If no signal abnormality is found, output the voting value with three degrees of redundancy, and monitor the Y4 signal by monitoring the voting value. If the absolute value of the difference between the voting value and the Y4 signal is greater than the monitoring threshold L, it is determined that the Y4 signal is faulty.
当发现信号Y1、Y2、Y3存在异常时，通过第四个信号Y4进一步对异常信号进行确认，即：When abnormalities are found in the signals Y1, Y2, and Y3, the abnormal signals are further confirmed through the fourth signal Y4, namely:
1)若仅信号Y1异常，执行三余度信号Y2、Y3、Y4监控表决算法：1) If only signal Y1 is abnormal, execute the three-redundancy signal Y2, Y3, Y4 monitoring voting algorithm:
A)若未发现信号异常，则输出三余度表决值，确定Y1故障；A) If no signal abnormality is found, output the three-redundancy voting value to determine the Y1 fault;
B)若发现Y4异常，进一步确定Y1与Y4之差绝对值是否小于监控门限值L：B) If Y4 is abnormal, further determine whether the absolute value of the difference between Y1 and Y4 is less than the monitoring threshold L:
a)若小于门限值L，则判为四余度信号2:2故障，确定所有四信号Y1、Y2、Y3、Y4故障；a) If it is less than the threshold value L, it is judged as a 2:2 fault of the four-redundancy signal, and all four signals Y1, Y2, Y3, and Y4 are determined to be faulty;
b)若大于门限值L，则置信号Y1、Y4故障；b) If it is greater than the threshold value L, set the signals Y1 and Y4 to fault;
2)若仅信号Y2异常，执行三余度信号Y1、Y3、Y4监控表决算法：2) If only the signal Y2 is abnormal, execute the three-redundancy signal Y1, Y3, Y4 monitoring voting algorithm:
A)若未发现信号异常，则输出三余度表决值，确定Y2故障；A) If no signal abnormality is found, output the three-redundancy voting value to determine the Y2 fault;
B)若发现Y4异常，进一步确定Y2与Y4之差绝对值是否小于监控门限值L：B) If Y4 is abnormal, further determine whether the absolute value of the difference between Y2 and Y4 is less than the monitoring threshold L:
a)若小于门限值L，则判为四余度信号2:2故障，确定所有四信号Y1、Y2、Y3、Y4故障；a) If it is less than the threshold value L, it is judged as a 2:2 fault of the four-redundancy signal, and all four signals Y1, Y2, Y3, and Y4 are determined to be faulty;
b)若大于门限值L，则确定信号Y2、Y4故障；b) If it is greater than the threshold value L, it is determined that the signals Y2 and Y4 are faulty;
3)若仅信号Y3异常，执行三余度信号Y1、Y2、Y4监控表决算法：3) If only the signal Y3 is abnormal, execute the three-redundancy signal Y1, Y2, Y4 monitoring voting algorithm:
A)若未发现信号异常，则输出三余度表决值，确定Y3故障；A) If no signal abnormality is found, output a three-redundancy voting value to determine the Y3 fault;
B)若发现Y4异常，进一步确定Y3与Y4之差绝对值是否小于监控门限值L：B) If Y4 is abnormal, further determine whether the absolute value of the difference between Y3 and Y4 is less than the monitoring threshold L:
a)若小于门限值L，则判为四余度信号2:2故障，确定所有四信号Y1、Y2、Y3、Y4故障；a) If it is less than the threshold value L, it is judged as a 2:2 fault of the four-redundancy signal, and all four signals Y1, Y2, Y3, and Y4 are determined to be faulty;
b)若大于门限值L，则确定信号Y3、Y4故障；b) If it is greater than the threshold value L, it is determined that the signals Y3 and Y4 are faulty;
4)若三信号均异常，通过信号Y4进一步对信号Y1、Y2、Y3异常与否进行确认。例如，若信号Y4与对应信号之差的绝对值大于监控门限L，则置该信号故障。4) If the three signals are all abnormal, further confirm whether the signals Y1, Y2, and Y3 are abnormal through the signal Y4. For example, if the absolute value of the difference between the signal Y4 and the corresponding signal is greater than the monitoring threshold L, then the signal is set to fail.
在四余度信号Y1、Y2、Y3、Y4存在一次故障时，对其余信号进行三余度的监控表决，故障后降级的三余度监控直接确定信号是否故障，不需要附加条件确认，如图4所示。图4是例示根据本公开实施例的降级的三余度监控表决的流程图。图4中的相同符号与在图3中具有相同的含义，这里不在进行冗余描述。When the four-redundancy signals Y1, Y2, Y3, and Y4 have a fault, the three-redundancy monitoring vote is performed on the remaining signals. The three-redundancy monitoring that degrades after the fault directly determines whether the signal is faulty without additional confirmation, as shown in the figure 4. 4 is a flow diagram illustrating degraded triple-redundancy monitoring voting according to an embodiment of the disclosure. The same symbols in FIG. 4 have the same meanings as those in FIG. 3 , and redundant descriptions will not be made here.
在四余度信号Y1、Y2、Y3、Y4存在二次故障时，对其余信号进行二余度的监控表决，故障后降级的二余度监控直接确定信号是否故障，不需要附加条件确认，如图5所示。图5是例示根据本公开实施例的降级的二余度监控表决的流程图。图5中的相同符号与在图3中具有相同的含义，这里不在进行冗余描述。When the four-redundancy signals Y1, Y2, Y3, and Y4 have secondary faults, the remaining signals are monitored and voted by two-redundancy. The two-redundancy monitoring that degrades after the fault directly determines whether the signal is faulty, and no additional conditions are required for confirmation, such as Figure 5 shows. 5 is a flow diagram illustrating degraded dual-redundancy monitoring voting according to an embodiment of the disclosure. The same symbols in FIG. 5 have the same meanings as those in FIG. 3 , and redundant descriptions will not be made here.
在四余度信号Y1、Y2、Y3、Y4存在三次以上故障时，可以输出故障安全值。When the four-redundancy signals Y1, Y2, Y3, and Y4 have more than three faults, the fail-safe value can be output.
综上所述，在本公开中，当四余度信号均正常时，将其分解为“3余度监控表决”+“备1”信号的模式。在“3余度”信号监控均正常时，以“3余度”信号表决值对“备1”信号进行监控，以确定“备1”信号正常与否，当“3余度监控表决”发现信号异常时，通过备用信号对异常信号辅助进行确定，以确认故障，若四余度信号出现故障，降级为低余度监控表决算法进行处理。To sum up, in the present disclosure, when the four redundancy signals are all normal, it is decomposed into the mode of "3 redundancy monitoring voting" + "backup 1" signal. When the "3 redundancy" signal monitoring is normal, monitor the "backup 1" signal with the "3 redundancy" signal voting value to determine whether the "backup 1" signal is normal or not. When the "3 redundancy monitoring vote" finds When the signal is abnormal, the auxiliary signal is used to confirm the abnormal signal to confirm the fault. If the four-redundancy signal fails, it will be downgraded to the low-redundancy monitoring voting algorithm for processing.
以上所述，仅为本公开的具体实施例，但本公开的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本公开揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本公开的保护范围之内。因此，本公开的保护范围应所述以权利要求的保护范围为准。The above are only specific embodiments of the present disclosure, but the scope of protection of the present disclosure is not limited thereto. Anyone skilled in the art can easily think of changes or substitutions within the technical scope of the present disclosure. should fall within the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be defined by the protection scope of the claims.
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| CN201510493170.2ACN105204431B (en) | 2015-08-11 | 2015-08-11 | Four remaining signal monitoring means of votings and equipment |
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