Real-time dual-kernel single-machine semi-physical simulation framework and simulation method

Abstract

The invention discloses a real-time dual-kernel single-machine semi-physical simulation framework and a simulation method. A multi-core central processing unit is arranged in a semi-physical simulation host, and the multi-core central processing unit comprises a real-time kernel module and a non-real-time kernel module which share a set of equipment drive/interface module and an interrupt hostingsystem; the real-time kernel module comprises a real-time kernel, and the non-real-time kernel module comprises a universal operating system kernel; two independently running real-time kernels and theuniversal operating system kernel are borne on the interrupt hosting system; and data interaction is carried out between the real-time kernel and the universal operating system kernel through a communication channel, and an actual simulation logic process is isolated from a data collection and analysis process. According to the invention, instantaneity, an algorithm compatibility and simulation consistency of semi-physical simulation are improved so that the purpose of effectively evaluating the to-be-tested module is achieved, system integration difficulty is reduced, and a development period is shortened.

Description

technical field [0001] The invention belongs to the technical field of simulation, and relates to a real-time dual-core single-machine semi-physical simulation framework and a simulation method. Background technique [0002] The aircraft includes a comprehensive system of electromechanical, structural, thermal, aerodynamic and other aspects, and because of its fast flight speed and complex interaction with airflow, there are many risk factors. Therefore, it is necessary to simulate possible flight states through various means such as theoretical calculation, simulation, and hardware-in-the-loop simulation to test the correctness and reliability of the algorithm and system units. [0003] A typical aircraft control loop such as Figure 1a As shown, it mainly includes three modules: attitude perception unit, control computing unit and execution / action unit. Obtain the attitude acceleration information of the aircraft and pass it to the control computing unit, and the control ...

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Problems solved by technology

[0010] 1. The simulation software depends on the operating system and has poor real-time performance;

[0011] Simulation software often relies on mature operating systems, and uses the rich interface functions provided by the operating system to realize specific model simulations. However, the current mainstream operating systems use preemptive task scheduling, and the execution determinism cannot meet the control requirements. On the other hand, the operating system The typical scheduling time slice is 15ms, and it is difficult to respond in time to the aircraft control application whose timing period is less than 10ms

Therefore, in the actual simulation process, the simulation software is difficult to meet the real-time requirements of the hardware-in-the-loop simulation system

[0012] 2. Compatibility issues of core algorithms;

General parameter tuning is first completed in the simulation system, and then transplanted and implemented on the embedded

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