【作者】 何永彪；

【导师】 陈欣；

【作者基本信息】 南京航空航天大学 ， 控制理论与控制工程， 2007， 硕士

【摘要】 故障注入是一种用于容错计算机系统验证的有效技术,其应用效果直接取决于所采用的故障注入方法的正确性。本文结合无人机的特点,研究故障注入技术在无人机飞行控制系统动态测试过程中的应用方法。本文首先分析了故障模型和故障注入模式。然后,为了保证故障注入系统接入到目标系统后不造成较大延迟,分析了RTLinux系统平台,在如何提高系统实时性方面做了讨论。然后在无人机飞行控制系统特性研究的基础之上,集成了目前软件故障注入方面的一些重要技术,并提出在无人机系统的外部数据总线上阻断并采集飞行参数,模拟无人机系统的硬件故障,演示机载设备在寿命试验中的快速失效过程。最后运用该方法,构造了一个实际的无人机故障注入系统,考察无人机故障检测、故障隔离和系统重构能力,测试它的可靠性。本课题将故障注入的方法和技术应用于无人机动态测试中,是无人机飞行控制系统研制、试验及性能评价的有效手段。与以往的故障注入研究不同的是,本课题没有采用较常见的硬件实现方法,而是采用软件模拟的方法实现了硬件故障注入,大大降低了故障注入的实施难度,也减小了故障注入对目标系统的危险系数。更多还原

【Abstract】 Fault injection is an effective technique for the validation of fault-tolerant computer systems. The effect of results from fault injection experiment is heavily depended on the accuracy of the method used in the experiment. In view of the feature of Unmanned Aerial Vehicle(UAV), the application of fault injection technique in the dynamic test of flight control system of UAV is studied in this paper.Firstly, the method and mode of software fault injection are introduced in this paper. Secondly, for making sure that the fault injection system causes little delay when connected to target system, RTLinux OS is analyzed, and the method of how to improve real time is discussed.Then, some important software fault injection technique are collected on the basis of the study of flight control system of UAV, then a scheme to implement the design of fault injection system via interdicting and acquiring data in exterior bus is presented, by which the fault of airborne equipment in UAV can be simulated in real time, and the speediness invalidation process in life test can also be demonstrated. Finally, a practical fault injector is designed and constructed, which is used to test the reliability of UAV and examine the ability of fault detection、fault isolation and system reconstruction.This thesis applied the method and technique of fault injection to dynamic test for the first time. It is a valid means for UAV flight control system to research, experiment and evaluation. Differ from former fault injection researches, this thesis did not adopt hardware method which was common used before but the method of software emulation and injection. The method reduced the implement difficulty of fault injection, also it weakened dangerous of target system brought by fault injection test.更多还原