无人机单片机控制系统软件容错设计

Fault-Tolerant Software Design of a Pilotless Aircraft

本文介绍了某型无人驾驶飞机系列MCS-51单片机控制系统的软件容错设计方法与实现。该软件采用了关键数据的余度管理技术,在充分考虑了本系统的任务功能及单片机固有特点的基础上,采用了若干行之有效的软件检错技术,包括执行条件检测、数据合理性检测、异常复位检测及软件陷井等。在检测到软件错误后,软件将执行一个恢复操作。恢复操作的基础是依据一组经过余度管理及相容性分析而保证为正确可靠的关键数据。恢复操作将消除软件系统所有可能的错误状态,将系统恢复至出错前的运行状态。实践表明,该软件的容错设计是可靠且有效的。

This paper presents a fault-tolerant software design method and its application to the micro-controller system (MCS-51) of a type of Pilotless aircraft. Redundancy management technique on key data is employed in the fault-tolerant software and several simple but effective and reliable software error-detecting techniques,including executive conditional detection, data reasonableness test,exceptional reset detection,and software-trap, etc, are also employed by fully taking into account the task function of the system and the inherent characteristics of the microcontroller. Once software errors are detected,a recoverable operation is executed in terms of a group of available data,of which the correctness and the reliability are guaranteed through redundancy management technique and compatibility analysis. This recoverable operation will eliminate all possible errors of the software system and set it to the executing data before errors occur. The effectiveness of this fault-tolerant software design method is shown in actual practice.