Semi-physical simulation turntable turning method based on transfer matrix

Abstract

The invention discloses a semi-physical simulation turntable turning method based on a conversion matrix, belongs to the field of aircraft control simulation, and relates to the aspects of missile body centripetal movement, coordinate system conversion, a semi-physical simulation test with a turntable and the like. According to the method, firstly, three attitude angles of a projectile body are obtained by resolving a projectile body model, then a conversion matrix from a projectile body launching inertial system to a system is obtained through the attitude angles, and the matrix serves as a conversion matrix from a rotary table launching inertial system to an actual inertial unit system; and then respectively solving a conversion matrix from the turntable transmitting system to the turntable transmitting inertial system and a conversion matrix from the actual inertial unit system to the theoretical inertial unit system, finally solving a conversion matrix from the turntable transmitting system to the theoretical inertial unit system through the conversion matrixes, and solving a corresponding type of turntable rotation angle by solving an anti-trigonometric function. When semi-physical simulation verification is carried out by adopting the rotary table rotation angle method provided by the invention, theoretical errors can be reduced to a great extent, the precision of semi-physical simulation is improved, the performance of an inertial measurement unit and the performance of a flight control system are better verified, the dependence degree of semi-physical simulation on the type of the rotary table can be reduced, and the reliability of the semi-physical simulation is improved. And the method has wider applicability.

Description

technical field [0001] The invention relates to a semi-physical simulation turntable angle method based on a transformation matrix, which belongs to the field of aircraft control simulation, and relates to aircraft orbiting motion models, transformation matrices of different coordinate systems, the rotation of the earth, and semi-physical simulation with a turntable. Background technique [0002] When conducting hardware-in-the-loop simulation tests with a turntable, the turntable is generally used to "match" the turntable. For example, the attitude angle of the motion model in the simulator is defined by the 2-3-1 turntable, and the matching turntable is a vertical three-axis Turntable; Similarly, the 3-2-1 sequence motion model corresponds to a horizontal three-axis turntable. In the actual hardware-in-the-loop simulation test, due to the limitation of the performance of the turntable or other hard conditions, the "non-matching" turntable may be used for half-physical simu...

AI Technical Summary

Problems solved by technology

In the actual hardware-in-the-loop simulation test, due to the limitation of the performance of the turntable or other hard conditions, the "non-matching" turntable may be used for half-physical simulation verification. At this time, the conventional method is to directly send the attitude angle of the model to the "non-matching" "The semi-physical simulation of the turntable, considering the characteristics of the mainstream inertial group in the aerospace field (sensitive three-axis angular velocity), this method of turntable rotation angle is relatively rough, and the error is large; As well as the installation error of the inertial group, the turntable rotation angle method of semi-physical simulation takes into account the difference between the drive of the vertical turntable and the horizontal turntable, but still ignores the installation error of the earth's rotation and the inertial group on the turntable; "A semi-physical simulation verification technology with turntable based on solving differential equations" proposes a semi-physical simulation turntable rotation angle considering factors such as the "mismatch" of the turntable, the earth's rotation, and the installation error of the inertial group on the turntable. method, it is theoretically invariant, has very low requirements on the initial rotation angle of the turntable, and can well adapt to the range of rotation angles of the turntable, but this method is still relatively complicated, and it is easy to make mistakes for beginners

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