Summary of the invention
Aiming at the problems existing in the prior art, the present invention provides a kind of CAN bus based moonlet integrated electronics systemSystem, can be realized input pickup data sharing, and the processing of task distribution formula supports software in-orbit heavy under the conditions of hardware reconstructionStructure, in-orbit upgrading, and the system real time be strong, high reliablity, stability are strong.
The present invention is to be achieved through the following technical solutions:
A kind of CAN bus based moonlet Integrated Electronic System, including data sharing I/O subsystem, data sharing I/OSubsystem passes through CAN bus and power management subsystem, Memory Management Subsystem, thermal control subsystem, troubleshooting subsystem, loadLotus task subsystem and winged control task subsystem interact, and each subsystem all has independent CPU processor；
Data sharing I/O subsystem is for output after handling the data of received input unit to corresponding subsystemSystem, and the output order of subsystem is sent to output unit, and share to the data sended and received；Data sharingI/O subsystem is also used to be allocated the task of the subsystem of failure, and distribution is not broken down to any oneOn the CUP of subsystem；
The power supply that power management subsystem shares the output of I/O subsystem for receiving data controls data, and according to the numberIt is managed according to the power supply to moonlet Integrated Electronic System；
Memory read-write of the Memory Management Subsystem for moonlet Integrated Electronic System operates；
Thermal control subsystem shares the temperature data of I/O subsystem output for receiving data, and according to the temperature data pairWhole star temperature control；
Troubleshooting subsystem shares the fault data of I/O subsystem output for receiving data, and according to fault dataWhole star failure is detected, fault diagnosis and fault restoration；
Load task subsystem is used for the processing of moonlet aerial mission load；
Fly three shaft angle acceleration of moonlet, three axis that control task subsystem shares the output of I/O subsystem for receiving dataAcceleration and navigation data, and attitude and orbit control of the data to moonlet based on the received.
Optionally, the output unit includes heater, thruster, telemetering package, fault diagnosis component and fault restorationComponent；
Heater carries out temperature control to moonlet according to the output order of thermal control subsystem；
Thruster controls the posture and track of whole star according to the output order for flying control task subsystem；
Telemetering package is used to measurement data on satellite being sent to earth station；
Fault diagnosis component diagnoses the data of fault detection according to the output order of troubleshooting subsystem；
Fault restoration component repairs failure according to the output order of troubleshooting subsystem.
Optionally, the input unit includes Inertial Measurement Unit, GPS, thermistor, star sensor, fault detection groupPart and remote control module；
Inertial Measurement Unit is inertia measurement sensor, and the three shaft angle acceleration and three axis for measuring moonlet accelerateDegree；GPS is for measuring moonlet navigation data；Thermistor is used to measure the temperature data of moonlet；Star sensor is for electricityThe control of source system and state output；Fault detection component is used to detect the fault data of moonlet；Remote control module is for receivingControl instruction from ground.
Optionally, the processing unit of the data sharing I/O subsystem is fpga chip.
The present invention also provides a kind of method for allocating tasks of CAN bus based moonlet Integrated Electronic System, work as electricitySource control subsystem, thermal control subsystem, load task subsystem, flies at control task subsystem and failure at Memory Management SubsystemThe one or more subsystems managed in subsystem break down, times of the data sharing I/O subsystem to the subsystem of failureBusiness is allocated, and is distributed to the CUP for not having any one faulty subsystem.
Optionally, the distribution principle is to be randomly assigned or distribute according to the priority height of CPU.
Compared with prior art, the invention has the following beneficial technical effects:
Should be based on CAN bus moonlet Integrated Electronic System, the system architecture be based on hardware CAN bus technology, using pointCloth multiprocessor co-ordination mode；System hardware includes power management subsystem, Memory Management Subsystem, troubleshootingSystem, mission payload subsystem, flies control subsystem and data sharing I/O subsystem at thermal control subsystem；Each subsystem hasThe CPU for handling respective task is not interfere with each other, and realizes the reconstruct supported well in software architecture on hardware structure, is had very strongQuick characteristic.Data sharing I/O subsystem is managed concentratedly using data sharing formula, and the function of management uses high reliability FPGAIt undertakes；The present invention is based on CAN bus technologies, distributed treatment, have very strong quick characteristic.Subsystem software task specific aimBy force, the development cycle is short, easily upgrades.Under the conditions of subsystem fault, data sharing I/O subsystem being capable of appointing malfunctioning sub-systemBusiness, which reassigns on the CUP that any one does not have faulty subsystem, to be run.
The input equipment of Integrated Electronic System has inertia measurement sensor, GPS, thermistor, star sensor, output equipmentThere are thermal control heater, thruster, load executing agency.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings, described to be explanation of the invention rather than limitIt is fixed.
As shown in Figure 1, a kind of CAN bus based moonlet Integrated Electronic System, including data sharing I/O subsystem,And connect with data sharing I/O subsystem power management subsystem, Memory Management Subsystem, troubleshooting subsystem, heatIt controls subsystem, load task subsystem and flies control task subsystem.
Under FPGA centralized processing, the data for completing whole star are output and input data sharing I/O subsystem.Shared I/OSubsystem includes data input cell, data read/write unit and data outputting unit；
Data input cell includes Inertial Measurement Unit, GPS, thermistor, star sensor, fault detection component and remote controlComponent.
Wherein, Inertial Measurement Unit is inertia measurement sensor, and for measuring three shaft angle acceleration of moonlet, three axis accelerateDegree evidence；GPS measures moonlet navigation data.Thermosensitive resistance measurement temperature data.The function of star sensor measurement is that realization is wholeThe control of a power-supply system and state output.Fault detection component measures fault data.Received remote control module is from groundControl instruction data.
Data read/write unit be memory subassembly, for read-write be Star Service management data, data include sensor inputData, executing agency's output data and memory read/write data.
Data outputting unit includes heater, task execution mechanism, thruster, telemetering package, fault diagnosis component and eventHinder rebuilt component.
Heater is executing agency when carrying out thermal control；Load is the executing agency of mission payload；Thruster is whole star appearanceThe executing agency of state control and orbits controlling；Telemetering package is used to measurement data on satellite being sent to earth station；Fault diagnosisAssembly function is to diagnose the data of fault detection；Fault restoration component is repaired to the failure occurred, is repairedStrategy have autonomous repair and the reparation from ground.
Power management subsystem completes the power management of moonlet Integrated Electronic System under power management CPU processing.
Memory Management Subsystem is under memory processor CPU processing, and the memory for completing moonlet Integrated Electronic System is readWrite operation.
Troubleshooting subsystem be troubleshooting CPU processing under, completion whole star failure is detected, fault diagnosis and thereforeBarrier is repaired.
Thermal control subsystem is to complete under thermal control CPU processing to whole star thermal control.
Load task subsystem is to undertake the processing of moonlet aerial mission load under load task CPU processing.
Flying control subsystem is to undertake moonlet Flight Control Software task, including posture in the case where flying control subsystem CPU processingControl and orbits controlling.
The CAN bus based moonlet Integrated Electronic System is how main work using industrial mature CAN bus technologyIndustry fieldbus, any a processor in bus all have permission as master cpu；CPU in bus, failureIn the case of, bus will be automatically exited from, other CPU in bus will not be run and generate any influence.CAN bus is multiprocessingDevice coordinates distributed treatment, data sharing provides necessary bus mechanism, and data interaction is high-efficient.
As shown in Fig. 2, being the distribution of moonlet Integrated Electronic System task and data interaction view.
Power management subsystem: input data is power supply control instruction POWER:data_in, and output data is power supply statusPOWER:data_out。
Memory Management Subsystem: input data is input control instruction management:data_in, and output data is interiorDeposit management instruction management:data_out.
Fly control subsystem: input data is input control instruction and inertial navigation component, GPS data FC:data_in, exports numberAccording to being thruster control instruction FC:data_out.
Thermal control subsystem: input data is the temperature number number TCS:data_in read, and output data is temperature control instructionTCS:data_out。
Load task subsystem: input data is load input control instruction payload:data_in, and output data is to carryLotus exports control instruction payload:data_out.
Troubleshooting subsystem: input data is fault-detection data, fault remediation instructions FDIR:data_in, exports numberAccording to being fault diagnosis data, fault remediation instructions FDIR:data_out.
These data are provided by data sharing I/O subsystem, necessary input are provided for other subsystems, in each subsystemControl instruction and state output after the completion of system processing is to shared data I/O subsystem.From the point of view of on hardware level, these dataTransmission be all to be transmitted by CAN bus, in subsystems, according to the mechanism of CAN bus, under subsystemsIt carries out corresponding transmission data and carries out data ID coding and data ID filtering, so that it may realize real-time, reliable data sharing machineSystem.
As shown in figure 3, for task sequence view under moonlet Integrated Electronic System normal mode of operation.Entire integrated electronicsSystem task is divided into following task: memory management tasks: management, power management task: POWER, thermal control task: TCS,Fly control: FC, load task: payload, fault detection task: FDIR；
The input data of these tasks is all derived from shared data I/O system, is completed at the same time the distribution of data ID.DataAssignment problem is determined by the task priority in system.In the software architecture, single subsystem only runs a subtask.
After the processing of memory management tasks input data management:data_in running memory management role, output dataManagement:data_out is to shared data I/O subsystem；
After the processing of power management task input data POWER:data_in running memory management role, output dataPOWER:data_out is to shared data I/O subsystem；Thermal control task input data TC:data_in, operation thermal control task processingAfterwards, output data TC:data_in is to shared data I/0 subsystem；Fly control task input data FC:data_in, runs and fly controlAfter task processing, output data FC:data_out to shared data I/0 subsystem；Load task input data payload:Data_in, after the processing of performance load task, output data payload:data_out to shared data I/0 subsystem；Failure inspectionSurvey task input data FDIR:data_in, operation troubles Detection task processing after, output data FDIR:data_out to shareData I/0 subsystem；Data sharing I/O subsystem can coordinate the input of each software task, the ID of output data is compiledCode.Data ID can be worked out according to system requirements, and by the operation of ground staff.
In entire small satellite system, failure appears in power management subsystem, thermal control subsystem, load task subsystemSystem, fly control subsystem, Memory Management Subsystem, one in troubleshooting subsystem or it is multiple on.
For example, power management subsystem breaks down, power management subsystem CPU will automatically exit from system bus, noInfluence the normal work of other subsystems.At this time troubleshooting subsystem by fault detection, diagnosis, provide diagnostic message toData sharing I/O subsystem, data sharing I/O subsystem redistribute the task of power management subsystem, data sharing I/OSystem is in a random basis or in a manner of priority height, and decision goes out to run the CPU of power management subsystem task, which isAny one of other CPU without failure subsystem in moonlet Integrated Electronic System, and then complete power management task.
Data sharing I/O subsystem handles fault message, and establishes corresponding Mechanism of Task Allocation, CPU selectionMechanism, the selection of the CPU of being run required for completing for task.The CPU selected will also establish the processing task after redistributing,And are output to by data sharing I/O subsystem and shares data for treated status data or control instruction, continueAt onboard system task.
It during processing, is no longer that the sensor of traditional subsystem CPU and system and executing agency interact placeReason is still able to if the CPU of subsystem internal breaks down, and in the case where sensor or executing agency and fault-freeAllow the sensing data of the malfunctioning sub-system to be exported to be used by the CPU of other subsystems without reason.Other fault-freesThe CPU of subsystem can send control instruction to the executing agency of malfunctioning sub-system, realize the rational configuration of hardware resource.
As shown in figure 4, for moonlet Integrated Electronic System failure, there are task distribution and data interaction views under mode.WithUnder be illustrated in the case of failure occurs, the distribution of the task of system and data interaction software mechanism.Such as power subsystem,There are failures for thermal control subsystem, can not complete power management task, the thermal control task of system distribution.It is failure in dotted line frameSubsystem.The system of failure will no longer be able to receive the data from shared I/0, can not carry out data processing and appointBusiness.
Due to mechanism of the CAN bus on hardware, the subsystem of failure will automatically exit from bus without influence systemOther parts normal work.After power management subsystem breaks down, input data POWER:data_in will enter into interiorManagement subsystem is deposited, and establishes power management task in memory management tasks system, management role output data POWER:data_out；After thermal control subsystem breaks down, input data TCS:data_in will enter into Memory Management Subsystem, andThermal control task is established in memory management tasks system, thermal control task output data is TCS:data_out；This completes systemsUnder fault condition, process that system task is redistributed.In this process, Memory Management Subsystem itself is only completed singleMemory read-write task, but after establishing new task, it is necessary to run three tasks.Multiple tasks operation, in order to guarantee to beThe real-time of system task run, needs data sharing I/O subsystem to carry out stringent timing control.Meanwhile working as in this processIn, dynamic reasonable distribution data input, output ID.Any change will not occur for the subsystem not broken down, according toScheduled working mechanism works normally.
As shown in figure 5, for moonlet Integrated Electronic System failure, there are software task sequence views under mode.Power managementBe identified on subsystem, thermal control subsystem task lifeline ×, identify power management subsystem, thermal control subsystem fault；Power supplyOperation task identification in management subsystem, thermal control subsystem lifeline has ×, indicate that the task of operation is not activated；Input numberBe identified with according to POWRE:data_in, TCS:data_in ×, indicate that the sequence will not can be carried out data interaction；Output dataPOWRE:data_out, TCS:data_out be identified with ×, indicate that the sequence will not can be carried out data interaction；Be not identified with ×Sequence will be normally carried out data interaction.
After power management subsystem breaks down, input POWER:data_in flows to Memory Management Subsystem, and establishes and appointBe engaged in Task1:POWER, exports POWER:data_out after task processing；After thermal control subsystem breaks down, TCS:data_ is inputtedIn flows to Memory Management Subsystem, and establishes task task 1:POWER, exports TCS:data_out after task processing；Memory pipeManaging the owned task of subsystem is Task0:management；It establishes in Memory Management Subsystem there are three task, to protectDemonstrate,prove the requirement of real-time, it is thus necessary to determine that the information of the priority and task switching that run task sends mechanism.For fault-free systemMemory Management Subsystem after system is redistributed with task still maintains independent parallel on software and hardware, is independent of each other.
Should be based on CAN bus moonlet Integrated Electronic System, the system architecture be based on hardware CAN bus technology, using pointCloth multiprocessor co-ordination mode；System hardware includes power management subsystem, Memory Management Subsystem, troubleshootingSystem, mission payload subsystem, flies control subsystem and data sharing I/O subsystem at thermal control subsystem；Integrated Electronic System it is defeatedEntering equipment has inertia measurement sensor, GPS, thermistor, star sensor, and output equipment has thermal control heater, thruster, loadExecuting agency.There is each subsystem the CPU for handling respective task not interfere with each other, and realization is supported well on hardware structureReconstruct in software architecture has very strong quick characteristic.The main sensors input port of system, main executing agency's delivery outletIt is managed concentratedly using data sharing formula, the function of management is undertaken using high reliability FPGA；The present invention is based on CAN bus technology,Distributed treatment has very strong quick characteristic.Subsystem software task is with strong points, and the development cycle is short, easily upgrades.The present inventionCan be used in moonlet Integrated Electronic System software development, can be realized small satellite system software task function, support it is in-orbitSoftware upgrading；Under the conditions of hardware subsystem failure, the hardware CPU of software task operation, systems support software weight are redistributedStructure.
Compared with prior art, the beneficial effects of the present invention are:
The input of shared system, output interface, between different processor, data sharing.Existing spaceborne subsystem CPU with fromThe task I/O of body is closely linked, and the path of input, output data without any interaction between different subsystems.Such asSome subsystem CPU breaks down, but in the trouble-free situation of the sensor being connected with it or executing agency, and sensor is readThe data taken cannot be applied, and executing agency cannot also execute control instruction.Data sharing I/O subsystem very good solution thisThe good effective use for realizing hardware resource is also improved system survivability and stabilization by data sharing by a problemProperty.
Using CAN bus, more primal coordination software tasks are distributed, and Integrated Electronic System is total using the stable CAN of industrial circleLine can be arranged on demand as system bus, communication speed, and two signal wires is only needed to achieve that connection.This is just hardThe data sharing of software, multiprocessor co-ordination is made to provide reliable bus mechanism on part；This programme is by system taskClassifying rationally is carried out into multiple subtasks, each subtask is separately operable again on different processors, to each other mutual not shadowIt rings.But work meets the critical timing requirements of system, data input/output is using shared under unified management again simultaneouslyFormulas I/O centralized management.Single processor has specific operation task, and the division of labor is clear, and writing software according to the framework can be moreIt realizes well and combination of hardware.
It supports under fault condition, software task Autonomous Reconfiguration.Satellite Integrated Electronic System field occur failure becauseUsually from two aspects of hardware and software.For hardware fault, this framework scheme is that execution is a certain in view of worst situationThe situation of the processor damage of subtask is redistributed the software task of system, is allowed by way of software task Autonomous ReconfigurationOne trouble-free CPU executes the software task that should belong to failure CPU execution；For software fault, this framework schemeSupport fault detection, diagnosis, reparation, the mechanism handled in this way software fault, such processing includes autonomous reparationThe mode redistributed with ground staff's intervention reparation and software task.Traditional satellite electron system resists failure generationMode be all by the way of redundancy backup, such mode will be expended compared with the mode of this framework scheme more volumes withQuality and then next cost problem.It can upgrade for angle from software, be distributed by software task again hardware, it willLargely the hardware service life of extension satellite electron system and in-orbit flight time.
System real time, stability, reliability, safety significantly improve.This framework using multiprocessor distributed treatment,Real-time high-efficiency system CAN bus, the centralized management of shared I/O system；No longer it is between processor and external input, output equipmentOne-to-one relationship, but the relationship of multi-to-multi；In the case where facing failure, the software task of proposition redistributes mode；In view of the above feature it is found that the framework compares traditional satellite Integrated Electronic System in real-time, stability, reliability, safetyPerformance in terms of property increases significantly.
The above content is merely illustrative of the invention's technical idea, and this does not limit the scope of protection of the present invention, all to pressAccording to technical idea proposed by the present invention, any changes made on the basis of the technical scheme each falls within claims of the present inventionProtection scope within.