CN115946875B - Arrow-mounted computer decision method and system - Google Patents
Arrow-mounted computer decision method and system Download PDFInfo
- Publication number
- CN115946875B CN115946875B CN202310101124.8A CN202310101124A CN115946875B CN 115946875 B CN115946875 B CN 115946875B CN 202310101124 A CN202310101124 A CN 202310101124A CN 115946875 B CN115946875 B CN 115946875B
- Authority
- CN
- China
- Prior art keywords
- arrow
- numerical
- computer
- instruction
- communication instruction
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Hardware Redundancy (AREA)
Abstract
The invention provides an arrow-mounted computer decision method and system, wherein the arrow-mounted computer decision method comprises the following steps: receiving a first numerical communication instruction of each rocket-borne computer, wherein the numerical communication instruction comprises a numerical operation decision calculated by the rocket-borne computer according to the system state; calculating a second numerical communication instruction based on the current weight coefficient of each arrow computer and the first numerical communication instruction sent by each arrow computer; outputting a second digital communication instruction; sending a second numerical communication instruction to each arrow-mounted computer so that each arrow-mounted computer updates the numerical communication instruction; and updating the weight coefficient of each arrow computer according to the numerical operation decision in the first numerical communication instruction of each arrow computer. According to the invention, the final numerical communication instruction is calculated by adopting dynamic weight summation on the numerical communication instructions of the plurality of arrow-mounted computers, so that redundancy control is realized, the instructions are more accurate, and the reliability of the system is improved.
Description
Technical Field
The embodiment of the invention relates to the field of computers, in particular to an arrow-mounted computer decision method and system.
Background
The rocket-borne computer is the "brain" of the rocket, and is the core equipment of the rocket control system. In order to ensure reliable operation of the system and reduce the fault probability of the system, more than one set of arrow-mounted computers which complete the same function are generally added through redundant design, so that when one arrow-mounted computer fails or exits, the whole function of the system is not affected, and the system can still work normally.
In the prior art, in a system formed by a plurality of arrow-mounted computers, for attitude control instructions calculated and output by the plurality of arrow-mounted computers, a three-choice similar mode is generally selected to determine a final attitude control instruction, so that the executed attitude control instruction is not interfered and correct, but the attitude control instructions calculated by each arrow-mounted computer are possibly different, and the three-choice similar mode cannot be used for judging which instruction belongs to a fault instruction, so that the final output instruction cannot be obtained. It is therefore important how to determine the final attitude control instruction according to the attitude control instructions of the plurality of arrow-mounted computers.
Disclosure of Invention
In order to improve the accuracy of an arrow-mounted computer instruction and ensure the normal operation of a system, the invention provides an arrow-mounted computer decision method and system.
In a first aspect, the present invention provides an arrow-borne computer decision method, the method comprising:
receiving a first numerical communication instruction of each rocket-borne computer, wherein the numerical communication instruction comprises a numerical operation decision calculated by the rocket-borne computer according to the system state;
calculating a second numerical communication instruction based on the current weight coefficient of each arrow computer and the first numerical communication instruction sent by each arrow computer;
outputting a second digital communication instruction;
sending a second numerical communication instruction to each arrow-mounted computer so that each arrow-mounted computer updates the numerical communication instruction;
and updating the weight coefficient of each arrow computer according to the numerical operation decision in the first numerical communication instruction of each arrow computer.
According to the method, the numerical communication instructions of all the arrow-mounted computers are weighted and summed to obtain the final numerical communication instruction, the weight of each arrow-mounted computer is continuously changed and adjusted according to the respective numerical communication instruction, and the final numerical communication instruction is fused with the numerical communication instructions of a plurality of arrow-mounted computers, so that the final numerical communication instruction is more accurate, the precision is higher, and the normal operation of the system is ensured.
With reference to the first aspect, in a first embodiment of the first aspect, calculating, based on the current weight coefficient of each of the arrow-mounted computers and the first numerical communication instruction issued by each of the arrow-mounted computers, a second numerical communication instruction includes:
and removing the first numerical communication instruction with the numerical operation decision being an abnormal value, and calculating a second numerical communication instruction based on the rest of the first numerical communication instructions and the corresponding weight coefficients.
With reference to the first embodiment of the first aspect, in a second embodiment of the first aspect, removing the first numerical communication instruction whose numerical operation decision is an outlier, and calculating the second numerical communication instruction based on the remaining first numerical communication instructions and the corresponding weight coefficients, includes:
if the number of the first numerical communication instructions with the abnormal values removed is larger than the preset number, the maximum value and the minimum value are removed, and the second numerical communication instructions are calculated based on the rest first numerical communication instructions and the corresponding weight coefficients.
With reference to the first aspect, in a third embodiment of the first aspect, the method further includes:
receiving a first signal instruction of each arrow computer, wherein the signal instruction comprises an opening operation decision of opening operation of the arrow computer according to a system state;
determining a second signal instruction according to the first signal instruction of each arrow-mounted computer and a preset effective signal instruction corresponding to the opening quantity operation;
and sending a second signal instruction to each arrow-mounted computer so that each arrow-mounted computer outputs the second signal instruction.
With reference to the third embodiment of the first aspect, in a fourth embodiment of the first aspect, determining, according to the first signal instruction of each arrow-borne computer and a preset valid signal instruction corresponding to the opening amount operation, a second signal instruction includes:
one first signal instruction is the same as the effective signal instruction in the first signal instructions sent by each arrow-mounted computer, and the effective signal instruction is used as a second signal instruction.
With reference to the second embodiment of the first aspect, in a fifth embodiment of the first aspect, updating the weight coefficient of each of the arrow computers according to the numerical operation decision in the first numerical communication instruction of each of the arrow computers includes:
and (3) downwards adjusting the weight coefficient of the arrow-borne computer corresponding to the removed first numerical communication instruction, and using the updated weight coefficient for next calculation of a second numerical communication instruction.
In a second aspect, the present invention also provides an arrow-borne computer decision system comprising:
the arrow-mounted computer is used for sending a first numerical communication instruction, wherein the numerical communication instruction comprises a numerical operation decision calculated by the arrow-mounted computer according to the system state;
the decision-making arrow-mounted computer is used for receiving a first numerical communication instruction of each arrow-mounted computer, wherein the numerical communication instruction comprises a numerical operation decision calculated by the arrow-mounted computer according to the system state; calculating a second numerical communication instruction based on the current weight coefficient of each arrow computer and the first numerical communication instruction sent by each arrow computer; outputting a second digital communication instruction; sending a second digital communication instruction to each arrow-mounted computer; updating the weight coefficient of each arrow computer according to the numerical operation decision in the first numerical communication instruction of each arrow computer;
and the arrow-mounted computer is also used for receiving the second numerical value type communication instruction and updating the respective numerical value type communication instruction according to the received second numerical value type communication instruction.
The system is used for carrying out weighted summation on the numerical communication instructions of all the arrow-mounted computers to obtain the final numerical communication instructions, the weight of each arrow-mounted computer is continuously changed and adjusted according to the respective numerical communication instructions, and the final numerical communication instructions are fused with the numerical communication instructions of a plurality of arrow-mounted computers, so that the final numerical communication instructions are more accurate, the precision is higher, and the system can be ensured to normally operate.
With reference to the second aspect, in a first embodiment of the second aspect, the arrow-mounted computer is further configured to send a first signal instruction, where the signal instruction includes an opening operation decision of an opening operation obtained by the arrow-mounted computer according to a system state;
the decision-making arrow-mounted computer is also used for receiving a first signal instruction of each arrow-mounted computer, wherein the signal instruction comprises an opening operation decision of opening operation obtained by the arrow-mounted computer according to the system state; determining a second signal instruction according to the first signal instruction of each arrow-mounted computer and a preset effective signal instruction corresponding to the opening quantity operation; sending a second signal instruction to each arrow computer;
and the arrow-mounted computer is also used for receiving and outputting a second signal instruction.
With reference to the first embodiment of the second aspect, in a second embodiment of the second aspect, the system further includes:
and the signal instruction processing module is used for receiving the second signal instructions sent by each computer and outputting final signal instructions by the AND logic gate or the logic gate.
With reference to the second embodiment of the second aspect, in a third embodiment of the second aspect, the system further includes:
the synchronization module is used for sending synchronization signals and serial numbers to each computer, wherein the serial numbers are the number of the synchronization signals;
each computer is located on the same block chain, and each computer judges whether the block chain data of the computer is the latest block chain data or not by comparing the serial number with the height of the block chain of the computer, wherein the block chain data comprises a numerical communication instruction and a signal instruction.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of an arrow-based computer decision method in accordance with an exemplary embodiment;
FIG. 2 is a block diagram of an arrow-based computer decision system in accordance with an exemplary embodiment;
FIG. 3 is a schematic diagram of an on-board computer decision making system in one example;
FIG. 4 is a diagram of the composition of an RS422 data link, in one example;
fig. 5 is a schematic diagram of a hardware structure of a computer device according to an exemplary embodiment.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In addition, the technical features of the different embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
In order to improve the accuracy of an arrow-mounted computer instruction and ensure the normal operation of a system, the invention provides an arrow-mounted computer decision method and system.
Fig. 1 is a flow chart of an arrow-based computer decision method according to an exemplary embodiment. As shown in fig. 1, the method includes the following steps S101 to S105.
Step S101: and receiving a first numerical communication instruction of each rocket-borne computer, wherein the numerical communication instruction comprises a numerical operation decision calculated by the rocket-borne computer according to the system state.
In an alternative embodiment, the numerical communication instructions include, but are not limited to, rudder deflection instructions issued to the steering engine controller by the arrow computer, thrust adjustment instructions issued to the engine by the arrow computer, and the like.
Step S102: and calculating a second numerical communication instruction based on the current weight coefficient of each arrow computer and the first numerical communication instruction sent by each arrow computer.
In an alternative embodiment, the first numerical communication commands sent by each arrow-mounted computer are weighted and summed to obtain the calculated second numerical communication command.
Step S103: outputting a second digital communication instruction.
Step S104: and sending a second numerical value type communication instruction to each arrow-mounted computer so that each arrow-mounted computer updates the numerical value type communication instruction.
Step S105: and updating the weight coefficient of each arrow computer according to the numerical operation decision in the first numerical communication instruction of each arrow computer.
According to the method, the numerical communication instructions of all the arrow-mounted computers are weighted and summed to obtain the final numerical communication instruction, the weight of each arrow-mounted computer is continuously changed and adjusted according to the respective numerical communication instruction, and the final numerical communication instruction is fused with the numerical communication instructions of a plurality of arrow-mounted computers, so that the final numerical communication instruction is more accurate, the precision is higher, and the normal operation of the system is ensured.
In an example, in the step S102, based on the current weight coefficient of each arrow computer and the first numerical communication instruction sent by each arrow computer, the second numerical communication instruction is calculated, and specific contents include:
and removing the first numerical communication instruction with the numerical operation decision being an abnormal value, and calculating a second numerical communication instruction based on the rest of the first numerical communication instructions and the corresponding weight coefficients.
In an alternative embodiment, the outlier includes a value outside of a predetermined range. The reason for the values exceeding the predetermined range may be a program error caused by an arrow-mounted computer running error or a calculation error caused by inaccurate data collection of the arrow-mounted computer.
In an alternative embodiment, if the number of the first numerical communication instructions after the outlier removal is greater than the predetermined number, the maximum value and the minimum value are removed, and the second numerical communication instruction is calculated based on the remaining first numerical communication instructions and the corresponding weight coefficients, the predetermined number may be set to 3, for example.
In an example, in the step S105, the weight coefficient of each arrow-mounted computer is updated as follows:
and (3) downwards adjusting the weight coefficient of the arrow-borne computer corresponding to the removed first numerical communication instruction, and using the updated weight coefficient for next calculation of a second numerical communication instruction.
In an alternative embodiment, the weight coefficient of the arrow computer corresponding to the removed first numerical communication instruction is adjusted downward, but the lower weight limit is set to 0.9, and the weight coefficient of the arrow computer corresponding to the first numerical communication instruction not removed is increased, but the upper weight limit is set to 1.1.
In an example, the method provided by the embodiment of the invention further includes:
first, a first signal instruction of each arrow computer is received, wherein the signal instruction comprises an opening operation decision of opening operation of the arrow computer according to a system state.
The numerical communication command is used for controlling a numerical variable of the external device, the signal command refers to an electrical signal command such as an opening operation, the opening operation comprises a low opening operation and a high opening operation, the preset actions of the external device are controlled through the opening operation, different preset actions correspond to different opening operations, namely, correspond to the low opening operation or the high opening operation, the low opening operation refers to a digital signal 0, and the high opening operation refers to a digital signal 1. The signal instruction types include a time series signal instruction, a condition signal instruction and a received external device signal instruction.
Time sequence time series signal instruction: issuing signal instructions according to a preset time node, such as issuing signal instructions at time nodes of 2.4 seconds, 108 seconds, 200 seconds and the like; condition-type signal instruction: when the preset condition is met, such as when the axial overload 4 is met, when the flying height is 10km is met, and the like; received external device signal instruction: when receiving the signal instruction of other equipment, such as an external engine controller, sending the signal instruction to require the connecting rod to be broken, all arrow-mounted computers can receive the signal instruction, and then broadcasting the signal instruction to the decision arrow-mounted computers by the decision writing operation buffer area of the signal instruction.
And then, determining a second signal instruction according to the first signal instruction of each arrow-mounted computer and the preset effective signal instruction corresponding to the opening quantity operation.
In an alternative embodiment, the valid signal instructions include a low valid signal instruction corresponding to a low-yield operation and a high valid signal instruction corresponding to a high-yield operation. The preset actions of different external devices correspond to different valid signal instructions, either low valid signal or high valid signal instructions. And if one first signal instruction is the same as the effective signal instruction in the first signal instructions sent by each arrow-mounted computer, the effective signal instruction is used as a second signal instruction.
And finally, sending a second signal instruction to each arrow-mounted computer so that each arrow-mounted computer outputs the second signal instruction.
Fig. 2 is a block diagram of an arrow-mounted computer decision system. The system comprises:
the arrow-mounted computer 201 is configured to send a first numerical communication instruction, where the numerical communication instruction includes a numerical operation decision obtained by the arrow-mounted computer 201 according to a system state calculation;
the decision-making arrow-mounted computer 202 is configured to receive a first numerical communication instruction of each arrow-mounted computer 201, where the numerical communication instruction includes a numerical operation decision calculated by the arrow-mounted computer 201 according to a system state; calculating a second numerical communication instruction based on the current weight coefficient of each arrow computer 201 and the first numerical communication instruction sent by each arrow computer 201; outputting a second digital communication instruction; transmitting a second digital communication instruction to each arrow computer 201; the weight coefficient of each arrow computer 201 is updated according to the numerical operation decision in the first numerical communication instruction of each arrow computer 201, and the detailed description of the decision method of each arrow computer in the above embodiment is omitted herein.
The arrow-mounted computer 201 is further configured to receive a second numerical communication command, and update the respective numerical communication commands according to the received second numerical communication command.
In an alternative embodiment, decision arrow computer 202 belongs to one of arrow computers 201. Normal operation can be achieved even when there is only one arrow-mounted computer 201 in the system.
In an example, the arrow-mounted computer 201 is further configured to send a first signal instruction, where the signal instruction includes a decision of the opening operation of the arrow-mounted computer 201 according to the system state.
The decision-making arrow-mounted computer 202 is further configured to receive a first signal instruction of each arrow-mounted computer 201, where the signal instruction includes an opening amount operation decision of the opening amount operation obtained by the arrow-mounted computer 201 according to the system state; determining a second signal instruction according to the first signal instruction of each arrow-mounted computer 201 and a preset effective signal instruction corresponding to the opening quantity operation; a second signal instruction is sent to each of the arrow-mounted computers 201.
The arrow-mounted computer 201 is further configured to receive and output a second signal instruction.
In an example, the system further comprises:
and the signal instruction processing module is used for receiving the second signal instructions sent by each computer and outputting final signal instructions by the AND logic gate or the logic gate.
It should be noted that, for the numerical communication instruction, the decision arrow computer is responsible for outputting to the external device, and for the opening amount and other signal instructions, the decision arrow computer determines and sends to all arrow computers, all arrow computers output to the signal instruction processing module, and the final signal instruction is output through the AND logic gate or the logic gate.
In an alternative embodiment, the valid signal instruction is a high valid signal instruction, and the valid signal instruction is processed through an or logic gate, and the valid signal instruction is a low valid signal instruction, and the valid signal instruction is processed through an and logic gate. The method is that only one arrow-mounted computer is used for issuing an effective signal instruction, and the final signal instruction is the effective signal instruction and is given to an executing mechanism after signal amplification and isolation processing.
The signal instructions such as the opening amount are processed by the AND logic gate or the logic gate, so that the final signal instruction is the effective signal instruction as long as any arrow-mounted computer outputs the effective signal instruction, and even if a certain arrow-mounted computer fails, the effective signal instruction can still be normally output to external equipment as the final signal instruction.
In yet another example, the system further includes a synchronization module configured to send a synchronization signal and a serial number to each computer, where the serial number is the number of synchronization signals.
Each computer is located on the same block chain, and each computer judges whether the block chain data of the computer is the latest block chain data or not by comparing the serial number with the height of the block chain of the computer, wherein the block chain data comprises a numerical communication instruction and a signal instruction.
In an alternative embodiment, the synchronization signal may be sent by the inertial device, by another synchronization device, or by the designated arrow-mounted computer 201.
In an alternative embodiment, the decision-making on-board computer 202 determines the second numerical communication instruction and the second signal instruction according to the first numerical communication instruction and the first signal instruction of the other on-board computers 201, respectively, and broadcasts the second numerical communication instruction and the second signal instruction to all on-board computers 201. Each of the arrow-mounted computers 201 updates the blockchain data according to the received second numerical communication command and the second signal command.
In one example, each of the arrow computers 201 generates a respective identification code upon initial start-up.
In an alternative embodiment, a random number with a length of 32 bits is generated according to the serial number of the own CPU, and the random number is used as an identification code in the system, or the low 32 bits of the serial number of the own CPU are directly used as the identification code, which is called an arrow-borne computer ID. In yet another alternative embodiment, the ID may also be specified by the programmer, written into the memory of the arrow computer, which uses the value written by the programmer as an identification code in the system, i.e., the arrow computer ID.
In one example, the state of the system is that of a system composed of a plurality of arrow-mounted computers 201.
In an example, each of the arrow-mounted computers 201 includes a valid arrow-mounted computer list, which is used to record the arrow-mounted computer 201 and the corresponding weight coefficient in a normal state.
In one example, the system determines whether the transmitted data is correct by checksum verification.
In one example, the decision-making arrow-mounted computer 202, upon receiving the synchronization signal, broadcasts blockchain data to other arrow-mounted computers 201.
In one example, different arrow-borne computers 201 are determined to be decision arrow-borne computers 202 in different synchronization cycles. The decision arrow-borne computer 202 of the present synchronization cycle is designated by the decision arrow-borne computer 202 of the previous synchronization cycle. When the decision arrow computer 202 fails, i.e. the decision arrow computer 202 does not broadcast blockchain data between the two synchronization signals, the arrow computer 201 with the smallest identification code in the valid arrow computer list is selected to continue as the decision arrow computer 202.
In different synchronization periods, decision-making arrow-mounted computers 202 are different, data processing and control of decentralization are achieved, any arrow-mounted computer 201 is not relied on, numerical communication instructions and signal instructions sent by a plurality of arrow-mounted computers 201 are stored in an operation buffer area in a system, and the decision-making arrow-mounted computers 202 determine that data conflict cannot occur.
FIG. 3 is a schematic diagram of an on-board computer decision making system. The system comprises N arrow-mounted computers, wherein the decision arrow-mounted computer is one of the N arrow-mounted computers. Wherein the AND logic gate or the logic gate forms a signal instruction processing module. In the system, a inertial measurement unit is used as a synchronous module to send a synchronous signal and a serial number, and the serial number of the inertial measurement unit monotonically increases from 0. The number of the inertial measurement units is not particularly limited, and the number of the inertial measurement units is only required to be smaller than or equal to the number of the arrow-mounted computers.
L1 is a data link for a plurality of arrow-mounted computers to communicate with each other, including but not limited to using reflective memory cards, ethernet, controller area network (Controller Area Network, CAN), RS422, RS485, RS232, etc. To ensure high reliability, the data link may be designed as a master-slave, without limitation. L2 is the external communication wire harness of the arrow-mounted computer, and also comprises synchronous pulse signals of an inertial unit, and the synchronous pulse signals are shared by a plurality of arrow-mounted computers, wherein L2 comprises, but is not limited to, a reflective memory card, an Ethernet, a CAN bus, RS422, RS485, RS232 and the like. Taking RS422 as an example, the L1 and L2 are formed as shown in fig. 4, and t+ and T-in RS422 represent two differential data lines for transmitting data, respectively. R+ and R-respectively represent two differential data lines for receiving data. For RS485, T+ and T-represent A+ and R+ and R-represent B-and R-represent RS 485; for RS232, T+, T-represents the TXD of RS232, R+, R-represents the RXD of RS 232; for the network lines, T+, T-represents Tx+, tx-, R+, R-represents Rx+, rx-of the Ethernet.
In fig. 3, so1_ H, SO2_h … … son_h is the open output harness of each on-board computer high-activity signal command. SO1_ L, SO2_L … … SON_L is the open output harness for each arrow computer low on demand signal command. SI is the arrow computer entry input harness. O1 is an opening harness externally connected to the actuator. O1 transmits the on signal to an external actuator to cause it to perform ignition, separation, etc. I1 is an opening wire harness of an external actuator or switch. I1 receives external signal input such as master button, plug-in and drop-out, etc. And (5) amplifying and isolating the wire harness to be fed to all arrow-mounted computers.
The start-up of the arrow computer includes a cold start and a hot start. Wherein the cold start is an initial start in a normal state. After the arrow-mounted computer is cold started, in order to wait for an operation state, a ground instruction can be received through L2, and the ground test and control designates any arrow-mounted computer to execute an initialization instruction through an arrow-mounted computer ID. After the initialization instruction is executed, the system consisting of 1-N arrow-mounted computers starts to operate. The marking system is in an operating state. With respect to hot starts, arrow-borne computer hot starts occur mainly in the case of a failed restart. In the system, any arrow-mounted computer fault is automatically isolated, after the arrow-mounted computer is restarted, the current state information can be requested to any arrow-mounted computer which works normally in the system, and after the state is recovered, the system can be added again.
The system allows any new arrow-mounted computer to be added at any time, and any arrow-mounted computer can be withdrawn at any time, so long as the system keeps at least one arrow-mounted computer capable of working normally, the system can operate normally. Therefore, in long-time system operation, support is provided for online program update and online old equipment replacement of the whole system.
Meanwhile, as the normal operation of the system is not affected by any fault of the arrow-mounted computer, the arrow-mounted computer can use an industrial processor or a civil processor with lower cost, and the system cost is reduced.
Fig. 5 is a schematic diagram of a hardware structure of a computer device according to an exemplary embodiment. As shown in fig. 5, the device includes one or more processors 510 and a memory 520, the memory 520 including persistent memory, volatile memory and a hard disk, one processor 510 being illustrated in fig. 5. The apparatus may further include: an input device 530 and an output device 540.
The processor 510, memory 520, input device 530, and output device 540 may be connected by a bus or other means, for example in fig. 5.
The processor 510 may be a central processing unit (Central Processing Unit, CPU). Processor 510 may also be a chip such as other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or a combination thereof. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 520 is used as a non-transitory computer readable storage medium, including persistent memory, volatile memory, and hard disk, and can be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the arrow-based computer decision method in the embodiments of the present application. The processor 510 executes various functional applications of the server and data processing, i.e., implements any of the arrow-based computer decision methods described above, by running non-transitory software programs, instructions, and modules stored in the memory 520.
The input device 530 may receive input numeric or character information and generate signal inputs related to user settings and function control. The output 540 may include a display device such as a display screen.
One or more modules are stored in memory 520 that, when executed by one or more processors 510, perform the method as shown in fig. 1.
The product can execute the method provided by the embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method. Technical details which are not described in detail in the present embodiment can be found in the embodiment shown in fig. 1.
The embodiment of the invention also provides a non-transitory computer storage medium, wherein the computer storage medium stores computer executable instructions, and the computer executable instructions can execute the decision method in any of the method embodiments. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a Flash Memory (Flash Memory), a Hard Disk (HDD), or a Solid State Drive (SSD); the storage medium may also comprise a combination of memories of the kind described above.
It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
The foregoing is merely exemplary of embodiments of the present invention to enable those skilled in the art to understand or practice the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. An arrow-mounted computer decision method, which is applied to a decision arrow-mounted computer, the method comprising:
receiving a first numerical communication instruction of each rocket-borne computer, wherein the numerical communication instruction comprises a numerical operation decision calculated by the rocket-borne computer according to the system state;
calculating a second numerical communication instruction based on the current weight coefficient of each arrow computer and the first numerical communication instruction sent by each arrow computer;
outputting the second digital communication instruction;
transmitting the second numerical communication instruction to each arrow-mounted computer so that each arrow-mounted computer updates the respective numerical communication instruction;
updating the weight coefficient of each arrow computer according to the numerical operation decision in the first numerical communication instruction of each arrow computer;
based on the current weight coefficient of each arrow computer and the first numerical communication instruction sent by each arrow computer, calculating a second numerical communication instruction comprises the following steps:
removing the first numerical communication instruction with the numerical operation decision being an abnormal value, and calculating a second numerical communication instruction based on the rest of the first numerical communication instructions and the corresponding weight coefficients;
removing the first numerical communication instruction whose numerical operation decision is an outlier, and calculating a second numerical communication instruction based on the remaining first numerical communication instructions and the corresponding weight coefficients, comprising:
if the number of the first numerical communication instructions with the abnormal values removed is larger than the preset number, removing the maximum value and the minimum value, and calculating a second numerical communication instruction based on the rest first numerical communication instructions and the corresponding weight coefficients;
updating the weight coefficient of each arrow computer according to the numerical operation decision in the first numerical communication instruction of each arrow computer, comprising:
and (3) downwards adjusting the weight coefficient of the arrow-borne computer corresponding to the removed first numerical communication instruction, and using the updated weight coefficient for next calculation of a second numerical communication instruction.
2. The method according to claim 1, wherein the method further comprises:
receiving a first signal instruction of each arrow computer, wherein the signal instruction comprises an opening operation decision of opening operation of the arrow computer according to a system state;
determining a second signal instruction according to the first signal instruction of each arrow-mounted computer and the preset effective signal instruction corresponding to the opening amount operation;
and sending the second signal instruction to each arrow-mounted computer so that each arrow-mounted computer outputs the second signal instruction.
3. The method of claim 2, wherein determining the second signal command based on the first signal command for each of the arrow-mounted computers and the preset valid signal command corresponding to the yield operation comprises:
and the first signal instruction sent by each arrow-mounted computer is the same as the effective signal instruction, and the effective signal instruction is used as the second signal instruction.
4. An arrow-borne computer decision making system, the system comprising:
the arrow-mounted computer is used for sending a first numerical communication instruction, wherein the numerical communication instruction comprises a numerical operation decision calculated by the arrow-mounted computer according to the system state;
the decision-making arrow-mounted computer is used for receiving a first numerical communication instruction of each arrow-mounted computer, wherein the numerical communication instruction comprises a numerical operation decision calculated by the arrow-mounted computer according to the system state; calculating a second numerical communication instruction based on the current weight coefficient of each arrow computer and the first numerical communication instruction sent by each arrow computer; outputting the second digital communication instruction; sending the second digital communication instruction to each arrow-mounted computer; updating the weight coefficient of each arrow computer according to the numerical operation decision in the first numerical communication instruction of each arrow computer;
the arrow-mounted computer is also used for receiving a second numerical value type communication instruction and updating the respective numerical value type communication instruction according to the received second numerical value type communication instruction;
based on the current weight coefficient of each arrow computer and the first numerical communication instruction sent by each arrow computer, calculating a second numerical communication instruction comprises the following steps:
removing the first numerical communication instruction with the numerical operation decision being an abnormal value, and calculating a second numerical communication instruction based on the rest of the first numerical communication instructions and the corresponding weight coefficients;
removing the first numerical communication instruction whose numerical operation decision is an outlier, and calculating a second numerical communication instruction based on the remaining first numerical communication instructions and the corresponding weight coefficients, comprising:
if the number of the first numerical communication instructions with the abnormal values removed is larger than the preset number, removing the maximum value and the minimum value, and calculating a second numerical communication instruction based on the rest first numerical communication instructions and the corresponding weight coefficients;
updating the weight coefficient of each arrow computer according to the numerical operation decision in the first numerical communication instruction of each arrow computer, comprising:
and (3) downwards adjusting the weight coefficient of the arrow-borne computer corresponding to the removed first numerical communication instruction, and using the updated weight coefficient for next calculation of a second numerical communication instruction.
5. The system of claim 4, wherein the system further comprises a controller configured to control the controller,
the arrow-mounted computer is also used for sending a first signal instruction, wherein the signal instruction comprises an opening amount operation decision of opening amount operation obtained by the arrow-mounted computer according to the system state;
the decision-making arrow-mounted computer is also used for receiving a first signal instruction of each arrow-mounted computer, wherein the signal instruction comprises an opening amount operation decision of opening amount operation obtained by the arrow-mounted computer according to the system state; determining a second signal instruction according to the first signal instruction of each arrow-mounted computer and the preset effective signal instruction corresponding to the opening amount operation; sending the second signal instruction to each arrow-mounted computer;
the arrow-mounted computer is further used for receiving and outputting the second signal instruction.
6. The system of claim 5, wherein the system further comprises:
and the signal instruction processing module is used for receiving second signal instructions sent by each computer and outputting final signal instructions by the AND logic gate or the logic gate.
7. The system of claim 6, wherein the system further comprises:
the synchronization module is used for sending synchronization signals and serial numbers to each computer, wherein the serial numbers are the number of the synchronization signals;
each computer is located on the same blockchain, and each computer judges whether the blockchain data of the computer is the latest blockchain data or not by comparing the serial number with the height of the blockchain of the computer, wherein the blockchain data comprises a numerical communication instruction and a signal instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310101124.8A CN115946875B (en) | 2023-01-28 | 2023-01-28 | Arrow-mounted computer decision method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310101124.8A CN115946875B (en) | 2023-01-28 | 2023-01-28 | Arrow-mounted computer decision method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115946875A CN115946875A (en) | 2023-04-11 |
| CN115946875B true CN115946875B (en) | 2023-07-14 |
Family
ID=85903030
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310101124.8A Active CN115946875B (en) | 2023-01-28 | 2023-01-28 | Arrow-mounted computer decision method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115946875B (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106428589A (en) * | 2016-11-09 | 2017-02-22 | 北京宇航系统工程研究所 | Aerospace craft power supply and distributor based on solid power control technique |
| CN108957163A (en) * | 2018-04-24 | 2018-12-07 | 华东计算技术研究所（中国电子科技集团公司第三十二研究所） | Miniaturized testing arrangement of arrow year computer |
| WO2020173020A1 (en) * | 2019-02-26 | 2020-09-03 | 北京控制工程研究所 | Flight control intelligent data analysis and decision support system for spacecraft rendezvous and docking |
Family Cites Families (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2007018651A1 (en) * | 2005-08-05 | 2007-02-15 | Honeywell International, Inc. | Method for redunancy management of distributed and recoverable digital control system |
| CN100439204C (en) * | 2007-07-03 | 2008-12-03 | 北京控制工程研究所 | Estimating and compensating method for reducing influence of attitude controlling jetting on the orbit |
| CN104238435B (en) * | 2014-05-27 | 2017-01-18 | 北京航天自动控制研究所 | Triple-redundancy control computer and fault-tolerant control system |
| FR3043985B1 (en) * | 2015-11-20 | 2018-04-20 | Thales | METHOD FOR ORBITAL TRANSFER OF A SPATIAL VESSEL USING CONTINUOUS OR QUASI-CONTINUOUS THRUST AND ON-LINE STEERING SYSTEM FOR IMPLEMENTING SUCH A METHOD |
| JP6817341B2 (en) * | 2016-06-14 | 2021-01-20 | ブロムクイスト、リチャード | Spacecraft and control method |
| US9651946B1 (en) * | 2016-06-29 | 2017-05-16 | Planet Labs Inc. | Automated schedule calculation for controlling a constellation of satellites |
| CN106828980B (en) * | 2016-11-21 | 2019-06-07 | 上海卫星工程研究所 | The big disturbance torque real-time compensation method of payload sweep mechanism on star |
| GB2565338B (en) * | 2017-08-10 | 2020-06-03 | Mips Tech Llc | Fault detecting and fault tolerant multi-threaded processors |
| CN108469207B (en) * | 2018-02-01 | 2020-02-07 | 蓝箭航天空间科技股份有限公司 | Launch method, launch automatic control method and launch control system of carrier rocket |
| CN110239745B (en) * | 2019-06-13 | 2021-01-01 | 江苏深蓝航天有限公司 | Multi-engine parallel rocket control device with power redundancy capability and control method |
| CN110824988B (en) * | 2019-11-06 | 2021-02-09 | 上海航天控制技术研究所 | Attitude control output signal voting method based on 1553B bus redundancy |
| CN111142444A (en) * | 2019-12-31 | 2020-05-12 | 华东计算技术研究所（中国电子科技集团公司第三十二研究所） | Three-redundancy carrier rocket time sequence controller based on DSP and CPLD |
| CN111368369B (en) * | 2020-02-28 | 2022-11-29 | 北京航空航天大学 | Method and device for designing flight performance parameters of carrier rocket and electronic equipment |
| CN111397448B (en) * | 2020-03-13 | 2021-08-17 | 北京星际荣耀空间科技股份有限公司 | Self-adaptive adjusting method and device for attitude control parameters, electronic equipment and storage medium |
| CN212515401U (en) * | 2020-08-13 | 2021-02-09 | 北京星际荣耀空间科技有限公司 | Rocket-borne full-redundancy comprehensive electronic system |
| CN113443173B (en) * | 2021-09-01 | 2021-11-16 | 星河动力(北京)空间科技有限公司 | Navigation system, method, device, electronic device and storage medium for carrier rocket |
| CN114212279B (en) * | 2021-11-30 | 2023-11-10 | 上海航天控制技术研究所 | Angular momentum management method for redundant installation of flywheel |
| CN115285379A (en) * | 2022-08-15 | 2022-11-04 | 北京星际荣耀空间科技股份有限公司 | Rocket vertical landing guidance method, device, equipment and storage medium |
| CN217821328U (en) * | 2022-09-06 | 2022-11-15 | 北京星途探索科技有限公司 | A survey and control equipment that sends out for small-size solid rocket or target bomb |
-
2023
- 2023-01-28 CN CN202310101124.8A patent/CN115946875B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106428589A (en) * | 2016-11-09 | 2017-02-22 | 北京宇航系统工程研究所 | Aerospace craft power supply and distributor based on solid power control technique |
| CN108957163A (en) * | 2018-04-24 | 2018-12-07 | 华东计算技术研究所（中国电子科技集团公司第三十二研究所） | Miniaturized testing arrangement of arrow year computer |
| WO2020173020A1 (en) * | 2019-02-26 | 2020-09-03 | 北京控制工程研究所 | Flight control intelligent data analysis and decision support system for spacecraft rendezvous and docking |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115946875A (en) | 2023-04-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20020169850A1 (en) | Web-accessible embedded programming software | |
| US9208037B2 (en) | Duplexed operation processor control system, and duplexed operation processor control method | |
| EP3816795B1 (en) | Vehicle control device, program update method, and program update system | |
| CN110989403B (en) | Comprehensive energy regulation and control system, control method thereof and server | |
| CN115946875B (en) | Arrow-mounted computer decision method and system | |
| US9774671B2 (en) | Parallel processing system and operation method of parallel processing system | |
| CN109643231A (en) | It is migrated during nonredundancy input/output (I/O) firmware | |
| KR101601074B1 (en) | ECU Updating Apparatus, ECU Updating Method and ECU Updating Network using the same | |
| US11301236B2 (en) | Updating components of a modular system | |
| CN108604208B (en) | Relay mechanism to facilitate communication with a processor of an inaccessible input/output (I/O) device | |
| JP6929762B2 (en) | Power system stabilization system and processing equipment | |
| US7865785B2 (en) | System and method for improving communications for systems having communications protocol enabled devices | |
| CN116868084A (en) | Method for determining at least one system state by means of a Kalman filter | |
| CN116388913B (en) | RTC clock self-calibration method, electronic equipment and storage medium | |
| CN117234802B (en) | Industrial control equipment replacement and configuration data migration method and device | |
| US9898002B2 (en) | Method for operating a fieldbus protocol capable field device | |
| WO2015158359A1 (en) | Dynamic configuration of intelligent electronic devices | |
| JP2019036774A (en) | Electronic control device | |
| WO2023248548A1 (en) | Control system, relay device, and communication method | |
| US20240187278A1 (en) | Information processor, method for processing information, and non-transitory computer-readable storage medium storing information processing program | |
| US20220318277A1 (en) | Information processing device, information processing method, and storage medium | |
| JP2002287807A (en) | System and method for detecting operation abnormality of control device | |
| JP3414133B2 (en) | Display update method for monitoring and control CRT | |
| KR101516806B1 (en) | System for sharing data between management pc and control apparatus in monitoring-control system | |
| CN117234566A (en) | Sensor thermal upgrade method, device, system, electronic equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |