基于FlexRay无人机容错飞行控制计算机系统架构

A Flex Ray-based Fault-tolerant Flight Control Computer for UAV

目前,单通道飞行控制计算机已经无法满足高性能无人机的可靠性要求,技术成熟的有人机容错飞控计算机价格昂贵,无法直接应用于无人机中。提出一种基于Flex Ray总线架构的三模冗余飞控计算机系统架构,系统由3个通道飞控计算机及4组接连成总线型网络拓扑结构的Flex Ray总线组成。单通道飞控计算机采用分布式架构,Flex Ray总线既是实现单通道飞控计算机功能模块间数据连接的内部总线,也是通道间交叉数据互联系统总线。该容错飞控计算机系统既提高了可靠性,又满足无人机高性价比要求。

Fault-tolerant flight control computer must be developed for high-performance unmanned aerial vehicle(UAV) to satisfy the high-reliability requirements. Mature flight control computer systems for civil and military aircrafts cannot be applied directly because they are too expensive for UAV. Architectures of classic fault-tolerant flight control computer systems have been introduced and a Flex Ray-based triple modular redundancy architecture has been developed for UAV. The system consists of three channels of distributed computers and four Flex Ray buses. Each computer consists of a CPU unit and a data acquisition and output unit, and a Flex Ray bus which connects the two units together. Flex Ray bus is either a private data bus for a single computer or a system bus for cross channel data link. The fault-tolerant flight control computer system meets the high-reliability and low cost requirements for UAV.