Spacecraft system-level electromechanical thermal signal coupling distributed simulation method based on single-machine granularity

Abstract

The invention provides a spacecraft system-level electromechanical heat signal coupling distributed simulation method based on single-machine granularity, and the method comprises the steps: building a spacecraft system-level simulation model distributed simulation architecture, and decoupling a whole spacecraft system-level simulation model into one system-level terminal model, four electromechanical heat signal overall models, and N subsystem terminal models, four overall model frameworks and N subsystem server side communication modules are built in the system-level terminal model; establishing a subsystem model and subsystem client communication module in each subsystem terminal model; wherein the subsystem model establishes a single-machine model by taking a single machine as the minimum granularity, and is established by taking the single-machine model as a basic unit according to the equipment architecture of the subsystem; establishing an overall model of spacecraft machinery, dynamics, energy, heat and information; and carrying out whole-process system-level multidisciplinary linkage simulation on the spacecraft by utilizing the system-level terminal model, all the overall models and all the subsystem terminal models.

Description

Technical Field

[0001] The present invention belongs to the technical field of system engineering simulation verification, and in particular relates to a spacecraft system-level electromechanical thermal signal coupling distributed simulation method, system, readable storage medium and computer program product based on single-machine granularity. Background Art

[0002] With the rapid development of aerospace technology, spacecraft have gradually evolved from single artificial satellites to large and complex systems such as space stations, unmanned lunar probes, large communication satellites, and manned lunar exploration spacecraft, involving hundreds to thousands of single-machine equipment, with complex interfaces and connections between each single machine, and a lack of verification methods for overall technical indicators. It is necessary to establish a functional simulation model that includes the mechanical and dynamic characteristics, electrical characteristics, thermal characteristics, and information characteristics of each single machine, and to carry out system-level overall parameter verification in advance at the scheme stage, to find system-level coupling problems that occur in the integrated simulation between subsystems and between mechanical, electrical, thermal, and information disciplines, to avoid the phenomenon of program subversion or repetition after the physical product is put into production, to improve the design quality of spacecraft, and to reduce the cost and development cycle of spacecraft.

[0003] At present, most of the simulations carried out in the development process of spacecraft are single-professional or single-discipline simulations, such as mission orbit design and simulation analysis, dynamics simulation, sunlight shielding and energy balance simulation, external heat flow calculation and thermal balance simulation, attitude and orbit control simulation, information flow simulation, etc. These simulations often only focus on single characteristic analysis, and other input parameters are often fixed conditions or simplified conditions. They cannot reflect the coupling relationship between multiple subsystems and multiple disciplines, and cannot simulate and identify system-level emergent problems. Therefore, multidisciplinary system-level simulation is needed. The technical difficulties of multidisciplinary system-level simulation are mainly the following aspects:

[0004] (1) The digital model of system-level multidisciplinary simulation should have the same status as a single device and truly reflect the electromechanical and thermal information characteristics and status of the physical spacecraft;

[0005] (2) System-level multidisciplinary simulation should address the barriers between different disciplines in terms of simulation language, tools, and interfaces to facilitate integrated simulation;

[0006] (3) The large size of the system-level model will lead to slow simulation speed, thus failing to meet the requirements of ultra-real-time simulation;

[0007] (4) System-level multidisciplinary simulation requires the establishment of a model architecture with clear interfaces, decoupling the modeling process, and avoiding repetitions when integrating system-level models;

[0008] (5) Spacecraft simulation should take into account the real-time environmental data of the spacecraft, such as illumination, external heat flux, and telemetry visibility, as well as the real-time propellant consumption data of the spacecraft’s attitude and orbit control, so as to truly simulate the real-time mechanical, electrical, thermal, and information states of the spacecraft during its in-orbit flight.

[0009] Modelica is an object-oriented, multi-domain unified physical modeling language. It adopts an equation-based non-causal modeling method and a componentized structure to easily build complex systems layer by layer. It can model mechanical dynamics, electrical properties, fluids, and information flows, and can meet the requirements of multidisciplinary modeling. At present, the Modelica language has been used in the multidisciplinary simulation modeling of digital space station systems and some subsystems. However, the flight orbit of the space station is relatively simple, which is a near-earth near-circular orbit. For deep space exploration missions and other flight missions involving multi-celestial body dynamics and complex orbit change processes, it is necessary to establish a high-fidelity attitude and orbital dynamics model, as well as a complete environmental model; secondly, the multidisciplinary model of the digital space station uses a single ultra-large-scale model for simulation, and some use proxy characteristic models, which will affect the simulation speed and accuracy. At present, there is no complete set of spacecraft system-level model decoupling modeling and distributed simulation methods that reflect the multidisciplinary characteristics of single-machine granularity and the real-time environmental characteristics of complex flight missions to improve the system-level simulation integration efficiency and simulation speed. Summary of the invention

[0010] In order to overcome the shortcomings of the prior art, the inventors have conducted intensive research and provided a spacecraft system-level electromechanical, thermal and signal coupling distributed simulation method based on single-machine granularity, established a distributed simulation architecture of a spacecraft system-level simulation model, decoupled the entire spacecraft system-level simulation model into 1 system-level terminal model + 4 major overall models of electromechanical, thermal and signal + N subsystem terminal models, and carried out electromechanical, thermal and signal overall model and subsystem model modeling with a single machine as the minimum granularity, which can truly reflect the one-to-one single-machine characteristics and status of the physical spacecraft; each single-machine model defines the mechanical, electrical, thermal and information four-disciplinary characteristic parameters and interfaces of the single machine, effectively integrating electromechanical, thermal and information information data to carry out multidisciplinary coupling and linkage simulation, and identify multidisciplinary and system-level emergent problems.

[0011] The technical solution provided by the present invention is as follows:

[0012] In the first aspect, a spacecraft system-level electromechanical thermal signal coupling distributed simulation method based on single-machine granularity includes:

[0013] Establish a distributed simulation architecture for the spacecraft system-level simulation model, decouple the entire spacecraft system-level simulation model into a system-level terminal model, a mechanical and dynamics overall model, an energy overall model, a thermal overall model, an information overall model, and N subsystem terminal models, where N is the number of subsystems, N ≥ 1;

[0014] Build the framework of four overall models in the system-level terminal model, and build N subsystem server-side communication modules according to the subsystem types of the spacecraft. The N subsystem server-side communication modules are connected to the corresponding overall model framework through mechanical interfaces, electrical interfaces, heat transfer interfaces and information interfaces, and synchronize data with the subsystem client communication modules in the corresponding subsystem terminal model through transmission protocols.

[0015] In each subsystem terminal model, a subsystem model and a subsystem client communication module are respectively established, and the electromechanical and thermal information connection relationship between the two is constructed. The subsystem real-time data is sent to the system-level terminal model through the subsystem client communication module, or the processed data returned by the system-level terminal model is received; wherein, a single machine model is established with a single machine as the minimum granularity, and a subsystem model is established with a single machine model as the basic unit according to the subsystem equipment architecture;

[0016] Establish the overall mechanical and dynamic model of the spacecraft, connect its internal model with the external interface, use the external interface to receive the mass characteristic data, thrust data and command data of each subsystem, solve the spacecraft external environment data in real time, and return it to each subsystem model;

[0017] Establish a spacecraft energy overall model, connect its internal model with the external interface, and use the external interface to receive the power generation data of the power subsystem and the power on / off instructions of the information overall model; distribute the power generated by the power subsystem to each subsystem model for electrical characteristic data analysis;

[0018] Establish a spacecraft thermal overall model, connect its internal model with the external interface, use the external interface to receive the temperature data of the single machine in each subsystem, form the comprehensive temperature data of the whole device according to the distribution of the thermal network of the whole device, and import it into the thermal control subsystem model to determine the heat flow distribution data of each single machine; return the heat flow distribution data of the single machine to the single machine model of each subsystem model for thermal characteristic analysis;

[0019] Establish a general model of spacecraft information, receive flight programs sent by the measurement and control subsystem or the digital control subsystem, and status data of single machines in other subsystems; transmit various instructions to the single machine models of each subsystem model, drive the single machine models in each subsystem model to complete corresponding actions; transmit various instructions to the overall energy model and the overall mechanical and dynamics model, drive them to complete corresponding actions or mode conversion;

[0020] The system-level terminal model, all overall models and all subsystem terminal models are used to conduct system-level multidisciplinary linkage simulation of the entire spacecraft process, conduct key data interpretation and analysis, and verify the correctness and feasibility of the system solution.

[0021] In the second aspect, a spacecraft system-level electromechanical thermal signal coupling distributed simulation system based on a single machine granularity includes:

[0022] one or more processors;

[0023] a storage device for storing one or more programs,

[0024] When the one or more programs are executed by the one or more processors, the one or more processors implement the spacecraft system-level electromechanical, thermal and signal coupling distributed simulation method based on single-machine granularity as described in the first aspect.

[0025] In a third aspect, a readable storage medium stores a computer program, which, when executed by a processor, implements the spacecraft system-level electromechanical, thermal and signal coupling distributed simulation method based on single-machine granularity as described in the first aspect.

[0026] In a fourth aspect, a computer program product is provided, comprising: a computer program (also referred to as code, or instruction), which, when executed, executes the spacecraft system-level electromechanical, thermal and signal coupling distributed simulation method based on single-machine granularity as described in the first aspect.

[0027] A spacecraft system-level electromechanical thermal signal coupling distributed simulation method based on single-machine granularity provided by the present invention has the following beneficial effects:

[0028] The present invention provides a spacecraft system-level electromechanical, thermal and information coupling distributed simulation method based on single-machine granularity. The method takes single machine as the minimum granularity and a single single-machine model simultaneously possesses four characteristics of electromechanical, thermal and information. It adopts a distributed simulation architecture of 1 system-level terminal model + four overall models of electromechanical, thermal and information + multiple subsystem terminal models. It can truly reflect the one-to-one single-machine characteristics and status of the physical spacecraft, effectively integrate electromechanical, thermal and information data to perform multidisciplinary coupling and linkage simulation, identify multidisciplinary and system-level emergent problems, and at the same time, distributed simulation can effectively improve the system-level simulation integration efficiency and simulation speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 Implementing processes for spacecraft system-level distributed simulation based on single-machine granularity;

[0030] Figure 2 Modeling template for simulation of multi-disciplinary characteristics of single-machine equipment;

[0031] Figure 3 Modeling templates for simulation of multidisciplinary characteristics of single equipment and subsystems;

[0032] Figure 4 Provides a distributed simulation architecture for mechanical, electrical, thermal and signal coupling at the spacecraft system level;

[0033] Figure 5 Provides overall model architecture for spacecraft mechanics and dynamics;

[0034] Figure 6 Provides the overall model architecture for spacecraft energy;

[0035] Figure 7 Provides overall spacecraft thermal model architecture;

[0036] Figure 8 It is the overall model architecture of spacecraft information;

[0037] Fig. 9 This is the simulation result of electromechanical, thermal and signal coupling at the spacecraft system level. DETAILED DESCRIPTION

[0038] The following detailed description of the present invention will make the features and advantages of the present invention more clear and explicit.

[0039] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0040] The present invention provides a spacecraft system-level electromechanical thermal signal coupling distributed simulation method based on single-machine granularity, comprising:

[0041] Step 1: Establish a stand-alone equipment model template and a subsystem model template, establish a stand-alone model according to the stand-alone equipment model template, and establish a subsystem model according to the subsystem model template and the equipment architecture of the subsystem.

[0042] Step 1.1, establish a simulation model template for the multi-disciplinary characteristics of a single-machine device, take a single machine as the minimum granularity, establish a simulation model for a single machine, and simultaneously define the mechanical, electrical, thermal and information characteristics, parameters and interfaces of the single machine through one simulation model.

[0043] Based on the MBSE (Model-Based Systems Engineering) concept, the physical architecture of the spacecraft is restored one-to-one, and simulation models of each stand-alone machine are established according to the product matching. The name of the stand-alone model is consistent with the product code. In order to facilitate the unified modeling form and subsequent model integration, a simulation model template for multidisciplinary characteristics of stand-alone equipment is defined. Figure 2 A general single-machine model template is given, including load modules and interface modules, in which the electromechanical and thermal information load modules are coupled and linked to each other.

[0044] (1) The mechanical load module reflects the principle characteristics of the single machine, such as mass, center of mass, inertia, installation position and angle, force and torque, and transmits external and internal data through the mechanical interface; the mechanical interface is defined on the left side of the model.

[0045] (2) The electrical load module reflects the voltage, current, electrical power, photoelectric conversion and other principle characteristics of the single machine, and transmits external information and receives internal information through the electrical interface; the electrical interface is defined above the model.

[0046] (3) The heat load module reflects the principle characteristics of the single machine, such as thermal radiation, heat conduction, heat flow, electric heating, and fluid circuit, and transmits external and internal data through the heat transfer interface; the heat transfer interface is defined below the model.

[0047] (4) The information load module reflects the principle characteristics of the single machine, such as command generation, command sending, command reception and command feedback, and is transmitted externally and received internally through the information interface; the information interface is defined on the right side of the model.

[0048] Step 1.2, establish a subsystem model template. According to the subsystem equipment architecture, establish the subsystem models of the spacecraft with a single machine as the smallest unit, and connect and summarize the mechanical, electrical, thermal and information interfaces between each machine to form a subsystem model.

[0049] According to the spacecraft subsystem settings and the single machines included in the subsystem, a subsystem multidisciplinary characteristic simulation model is constructed. In order to facilitate the unified modeling form and subsequent model integration, a subsystem multidisciplinary characteristic simulation model template is defined. Figure 3 A subsystem model template is given, including a stand-alone module and a bus interface module.

[0050] (1) The layout of the mechanical interface, electrical interface, heat transfer interface, and information interface of the subsystem model is consistent with the single-machine model interface, which facilitates modeling reuse and integration.

[0051] (2) Figure 3 As shown, it is assumed that the subsystem X of the spacecraft HTQ contains four stand-alone machines 001, 002, 003, and 004. The four stand-alone machine models are dragged into the subsystem model, and the electrical and thermal information interfaces of each stand-alone machine are connected to the corresponding bus interface of the subsystem through programs or wires, and integrated.

[0052] Step 2, establish a distributed simulation architecture for the spacecraft system-level simulation model, decouple the entire spacecraft system-level simulation model into 1 system-level terminal model + 4 overall models of electromechanical, thermal and communication + N subsystem terminal models. The system-level terminal model is built with a framework of the 4 overall models of electromechanical, thermal and communication and N subsystem server-side communication modules; the subsystem terminal model is built with subsystem models and subsystem client communication modules.

[0053] In order to simulate the spacecraft more realistically and improve the simulation efficiency, one system-level terminal model, four overall models of electromechanical, thermal and signal, and N subsystem terminal models are preferably distributed on different processors.

[0054] Step 2.1, build the framework of the four overall models of electromechanical, thermal and communication in the system-level terminal model, and build N subsystem server-side communication modules according to the subsystem types of the spacecraft. The N subsystem server-side communication modules are connected to the corresponding overall model framework through mechanical interface, electrical interface, heat transfer interface and information interface respectively, and send data synchronously with the subsystem client communication module in the corresponding subsystem terminal model through the transmission protocol.

[0055] (1) Figure 4 The upper middle part of the figure is a system-level terminal model. According to the layout habits of single-machine and subsystem interfaces, the mechanical and dynamic overall model, energy overall model, thermal overall model and information overall model are placed on the left, top, bottom and right of the overall system-level terminal model respectively.

[0056] (2) The 1st, 2nd, 3rd, …, Nth subsystem server-side communication modules are built in the middle of the system-level terminal model, and the mechanical interface, electrical interface, heat transfer interface, and information interface of each subsystem server-side communication module are connected to the corresponding four overall models respectively.

[0057] Step 2.2, in each subsystem terminal model, establish the subsystem model and the subsystem client communication module respectively, and establish the electromechanical thermal information connection relationship between the two, send the subsystem real-time data to the system-level terminal model through the subsystem client communication module, or receive the processed data returned by the system-level terminal model.

[0058] (1) Figure 4 The lower middle part of the figure is a subsystem terminal model. Taking subsystem 6 as an example, it includes a subsystem 6 model and a client communication module of subsystem 6, and connects the four types of interfaces of the two.

[0059] (2) The distributed data interaction process between the system-level terminal model and the subsystem 6 model is as follows: the electromechanical and thermal information data of the subsystem 6 model is first transmitted to its client communication module; then transmitted to the subsystem 6 server-side communication module of the system-level terminal model through a distributed protocol; and then transmitted to the four major overall models respectively; after the four major overall models process the data, they are transmitted back to the subsystem 6 model.

[0060] Step 3: Establish the overall mechanical and dynamic model of the spacecraft, connect the internal model of the overall mechanical and dynamic model with the external interface; use the external interface to receive the mass characteristic data, thrust data and command data of each subsystem, and at the same time use the internal attitude and orbit dynamics model to solve the spacecraft external environment data in real time, and return it to each subsystem model to determine the external heat flow, lighting and measurement and control conditions.

[0061] Build Figure 4 The internal model and external interface of the overall mechanical and dynamic model on the left, such as Figure 5 shown.

[0062] (1) Establish a mass characteristic model, collect the mass, center of mass, inertia, installation position and attitude of all units in each subsystem through the mechanical interface, and obtain the mass, center of mass and inertia of the entire device (spacecraft) through coordinate transformation calculation.

[0063] (2) Establish a force and torque model, collect the thrust and torque of each engine through the mechanical interface, and calculate the force and torque of each engine relative to the center of mass coordinate system of the entire ship (spacecraft) through coordinate transformation. Figure 5 The mechanical interface of the propulsion subsystem also transfers force and torque data to the force and torque model.

[0064] (3) Establish a flight instruction interface and connect it to the information overall model to receive flight instructions issued by the information overall model, such as flight phase transition, time hopping information, etc.

[0065] (4) Establish an attitude and orbit dynamics model, receive the engine thrust and torque, spacecraft mass, center of mass, inertia and flight instructions, read the spacecraft's initial position and attitude information and celestial ephemeris information, and calculate the spacecraft's position and attitude information at the next moment, as well as the position of the sun and the moon and the direction of the sun through the orbital dynamics formula and attitude dynamics formula.

[0066] (5) Establishing the position and attitude and external environment interface, transmitting the spacecraft position and attitude information calculated by the attitude-orbit dynamics model, as well as the position of the sun and the moon and the direction of the sun, to the subsystems that need such information, such as the GNC subsystem, thermal control subsystem, and power supply subsystem.

[0067] (6) Connect the internal model and external interface of the overall mechanical and dynamic simulation model and match the data format.

[0068] Step 4, establish the overall energy model of the spacecraft, connect the internal model of the overall energy simulation model with the external interface, and use the external interface to receive the power generation data of the power subsystem and the power on and off instructions of the overall information model; at the same time, distribute the current through the internal overall circuit control model and return the calculated electrical characteristic data in each subsystem model.

[0069] Build Figure 4 The internal model and external interface of the energy overall model above, such as Figure 6 shown.

[0070] (1) Establish an overall circuit control model. The overall circuit control model receives the current power generation through the power subsystem electrical interface. The power subsystem receives the lighting condition data of the mechanical and dynamic overall model, calculates the solar wing illumination area by analyzing the sunlight blocking situation, and then determines the power generation.

[0071] (2) Establish a flight command interface and connect it to the overall information model to receive the power on and off commands of each single machine issued by the overall information model.

[0072] (3) The overall circuit control model receives flight instructions to control the on / off of the individual circuits of each subsystem, and distributes the electric energy generated by the power subsystem to the individual models of each subsystem model. Each individual model calculates the corresponding electrical characteristic parameters such as voltage and current according to electrical equations such as Ohm's law.

[0073] (4) Connect the internal model and external interface of the overall energy model and match the data format.

[0074] Step 5: Establish a spacecraft thermal overall model, connect the internal model of the thermal overall model with the external interface, use the external interface to receive the temperature data of the single machine in each subsystem, form the comprehensive temperature data of the whole device according to the thermal network distribution of the whole device, and import it into the thermal control subsystem model to determine the heat flow distribution data of each single machine; return the heat flow distribution data of the single machine to the single machine model of each subsystem model for thermal characteristics analysis.

[0075] Build Figure 4 The internal model and external interface of the overall thermal model below, such as Figure 7 shown.

[0076] (1) According to the layout of each unit in the spacecraft, a thermal network model of the whole spacecraft is established to receive the temperature data of each subsystem, form the comprehensive temperature data of the whole spacecraft, and transmit it to the thermal control subsystem model through the thermal interface of the thermal control subsystem.

[0077] (2) The thermal control subsystem model receives the integrated temperature data of the whole device, and at the same time receives the spacecraft posture and sun and moon position information from the overall mechanical and dynamic model to calculate the external heat flux. It integrates the spacecraft temperature data and external heat flux, and calculates the integrated heat flux data of the whole device (including heating and cooling) based on the expected temperature of each unit and the thermodynamic equations.

[0078] (3) The whole-device thermal network model receives the comprehensive heat flow data of the whole device from the thermal control subsystem model, forms the heat flow data of each single machine, and distributes it to the single machine model of each subsystem model. Each single machine model calculates the corresponding thermal characteristic data such as temperature according to the thermodynamic equation.

[0079] (4) Connect the internal model and external interface of the thermal overall model and match the data format.

[0080] Step 6, establish the overall model of spacecraft information, receive the flight program from the ground and the status data of the single machine in other subsystems sent by the measurement and control subsystem or the digital control subsystem; at the same time, transmit various instructions to the single machine model of each subsystem model, and drive the single machine model in each subsystem model to complete the corresponding actions.

[0081] For ground remote control, the measurement and control subsystem model determines whether the flight program can be received based on the spacecraft posture information and the visibility of the ground station and relay satellite. If it can be received, the information is transmitted to the overall model through the information interface.

[0082] For on-orbit program control, the flight program is sent by the digital control subsystem model and transmitted to the overall information model through the information interface.

[0083] Build Figure 4 The internal model of the information overall model on the right is as follows: Figure 8 shown.

[0084] (1) According to the spacecraft bus information protocol (such as TTE or 1553B), a bus network model is established to receive the flight program from the digital control subsystem or the measurement and control subsystem, and transmit it to the stand-alone model of each subsystem model through the subsystem information interface, driving the stand-alone model to complete the relevant actions; transmit it to the energy overall model through the overall model command interface, and transmit it to the mechanical and dynamics overall model through the mechanical and dynamics overall command interface, driving it to complete the corresponding actions or mode conversion.

[0085] (2) The bus network model receives the status data of the single machine in each subsystem at the current moment through the subsystem information interface, extracts the corresponding data according to the digital control subsystem program, transmits it to the measurement and control subsystem model through the subsystem information interface, and then transmits it to the ground control center.

[0086] (3) In addition, according to the specific plan of the spacecraft, the information interfaces of the two subsystems can be directly connected in the overall information model to form a direct serial connection between the single machines. Figure 8 It is assumed that subsystem 5 and the data management subsystem are directly connected in a single machine.

[0087] (4) Connect the internal model and external interface of the overall information model and match the data format.

[0088] Step 7: Use the system-level terminal model, the four overall models of electromechanical, thermal and signal, and N subsystem terminal models to conduct system-level multidisciplinary linkage simulation of the entire spacecraft process, interpret and analyze key data, and verify the correctness and feasibility of the system solution.

[0089] The flight program is the various flight instructions received by the spacecraft from the launch, such as launch, ship-rocket separation, sailboard deployment, timing, orbit control data injection, orbit control execution, reentry, landing, etc. The instruction content includes: instruction frame number, launch time, satellite time, UTCG time, position, speed, attitude, etc. Fig. 9 (a) As shown. The flight program transmits instructions to the spacecraft system-level simulation model, driving and controlling the entire spacecraft system-level simulation model to run according to the flight mission. The system-level terminal model, the four overall models of electromechanical, thermal and signal, and the N subsystem terminal models are synchronously calculated according to the simulation step based on the initial state data; the four overall models of electromechanical, thermal and signal receive the electromechanical, thermal and signal data of each subsystem at present, and transmit the next long-term data to each subsystem model through calculation; each subsystem terminal model calculates its own electromechanical, thermal and signal data of the next long-term, and returns it to the four overall models of electromechanical, thermal and signal; and then the distributed simulation calculations of the subsequent moments are carried out in sequence.

[0090] Fig. 9 The results of distributed simulation of electromechanical and thermal information coupling of the spacecraft during its lunar orbit are given in this paper. Fig. 9 (a) Flight procedure instructions received by the spacecraft; Fig. 9 (b) is the three-axis position data of the spacecraft in the lunar center inertial system; Fig. 9 (c) is the power generated by the two solar panels of the spacecraft during the circumlunar flight, where the power generated is 0 in the shadow area; Fig. 9 (d) is the thermal equilibrium process in which the temperature of each unit of the spacecraft gradually stabilizes under the action of the thermal control subsystem. Fig. 9 The interpretation and analysis of related data can verify the energy balance, thermal balance, attitude and orbit control stability of the spacecraft during its circumlunar flight, and the correct execution of the flight program, which verifies the correctness and feasibility of the spacecraft system plan during the circumlunar flight phase.

[0091] The present invention also provides a spacecraft system-level electromechanical thermal signal coupling distributed simulation system based on single-machine granularity, including:

[0092] one or more processors;

[0093] a storage device for storing one or more programs,

[0094] When the one or more programs are executed by the one or more processors, the one or more processors implement the spacecraft system-level electromechanical, thermal and signal coupling distributed simulation method based on single-machine granularity as described in the first aspect.

[0095] The present invention also provides a readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the spacecraft system-level electromechanical, thermal and signal coupling distributed simulation method based on single-machine granularity as described in the first aspect.

[0096] The present invention also provides a computer program product, which includes: a computer program (also referred to as code, or instruction), which, when executed, executes the spacecraft system-level electromechanical, thermal and signal coupling distributed simulation method based on single-machine granularity as described in the first aspect.

[0097] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center.

[0098] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0099] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described equipment, devices and modules can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0100] In addition, if the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., and other media that can store program codes.

[0101] The present invention has been described in detail above in conjunction with specific implementations and exemplary examples, but these descriptions cannot be understood as limiting the present invention. Those skilled in the art understand that, without departing from the spirit and scope of the present invention, a variety of equivalent substitutions, modifications or improvements may be made to the technical solution of the present invention and its implementation methods, all of which fall within the scope of the present invention. The scope of protection of the present invention shall be subject to the attached claims.

[0102] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

Claims

1. A spacecraft system-level electromechanical thermal signal coupling distributed simulation method based on single-machine granularity, characterized in that: include: Establish a distributed simulation architecture for the spacecraft system-level simulation model, decouple the entire spacecraft system-level simulation model into a system-level terminal model, a mechanical and dynamics overall model, an energy overall model, a thermal overall model, an information overall model, and N subsystem terminal models, where N is the number of subsystems, N ≥ 1; Build the framework of four overall models in the system-level terminal model, and build N subsystem server-side communication modules according to the subsystem types of the spacecraft. The N subsystem server-side communication modules are connected to the corresponding overall model framework through mechanical interfaces, electrical interfaces, heat transfer interfaces and information interfaces, and synchronize data with the subsystem client communication modules in the corresponding subsystem terminal model through transmission protocols. In each subsystem terminal model, a subsystem model and a subsystem client communication module are respectively established, and the electromechanical and thermal information connection relationship between the two is constructed. The subsystem real-time data is sent to the system-level terminal model through the subsystem client communication module, or the processed data returned by the system-level terminal model is received; wherein, a single machine model is established with a single machine as the minimum granularity, and a subsystem model is established with a single machine model as the basic unit according to the subsystem equipment architecture; Establish the overall mechanical and dynamic model of the spacecraft, connect its internal model with the external interface, use the external interface to receive the mass characteristic data, thrust data and command data of each subsystem, solve the spacecraft external environment data in real time, and return it to each subsystem model; Establish a spacecraft energy overall model, connect its internal model with the external interface, and use the external interface to receive the power generation data of the power subsystem and the power on / off instructions of the information overall model; distribute the power generated by the power subsystem to each subsystem model for electrical characteristic data analysis; Establish a spacecraft thermal overall model, connect its internal model with the external interface, use the external interface to receive the temperature data of the single machine in each subsystem, form the comprehensive temperature data of the whole device according to the distribution of the thermal network of the whole device, and import it into the thermal control subsystem model to determine the heat flow distribution data of each single machine; return the heat flow distribution data of the single machine to the single machine model of each subsystem model for thermal characteristic analysis; Establish a general model of spacecraft information, receive flight programs sent by the measurement and control subsystem or the digital control subsystem, and status data of single machines in other subsystems; transmit various instructions to the single machine models of each subsystem model, drive the single machine models in each subsystem model to complete corresponding actions; transmit various instructions to the overall energy model and the overall mechanical and dynamics model, drive them to complete corresponding actions or mode conversion; The system-level terminal model, all overall models and all subsystem terminal models are used to conduct system-level multidisciplinary linkage simulation of the entire spacecraft process, conduct key data interpretation and analysis, and verify the correctness and feasibility of the system solution.

2. The spacecraft system-level electromechanical thermal signal coupling distributed simulation method based on single-machine granularity according to claim 1 is characterized in that: The steps of establishing a single-machine model with a single machine as the minimum granularity and establishing a subsystem model with the single-machine model as the basic unit according to the equipment architecture of the subsystem include: establishing a single-machine equipment model template and a subsystem model template, establishing a single-machine model based on the single-machine equipment model template, and establishing a subsystem model based on the subsystem model template.

3. The spacecraft system-level electromechanical thermal signal coupling distributed simulation method based on single-machine granularity according to claim 2 is characterized in that: The stand-alone model includes a load module and an interface module, the load module includes a mechanical load module, an electrical load module, a heat load module and an information load module; the interface module includes a mechanical interface, an electrical interface, a heat transfer interface and an information interface, and is arranged close to each corresponding load module; The mechanical load module reflects the mechanical and mechanical characteristic parameters of the single machine, and transmits externally and receives internally through the mechanical interface; The electrical load module reflects the electrical characteristic parameters of the single machine, and transmits externally and receives internally through the electrical interface; The heat load module reflects the thermal characteristic parameters of the single machine, and transmits them externally and receives them internally through the heat transfer interface; The information load module reflects the command-related characteristics of the single machine and is transmitted externally and received internally through the information interface.

4. The spacecraft system-level electromechanical thermal signal coupling distributed simulation method based on single-machine granularity according to claim 2 is characterized in that: The layout of the mechanical interface, electrical interface, heat transfer interface and information interface of the subsystem model is consistent with that of the single-machine model interface.

5. The spacecraft system-level electromechanical thermal signal coupling distributed simulation method based on single-machine granularity according to claim 1 is characterized in that: The steps of establishing the overall mechanical and dynamic model of the spacecraft include: Establish a mass characteristic model, collect the mass, center of mass, inertia, installation position and posture of all units in each subsystem through the mechanical interface, and analyze and obtain the mass, center of mass and inertia of the whole device; Establish a force and torque model, collect the thrust and torque of each engine through the mechanical interface, and analyze and obtain the force and torque of each engine relative to the center of mass coordinate system of the entire ship; Establish a flight instruction interface and connect it with the overall information model to receive the flight instructions issued by the overall information model; Establish attitude and orbit dynamics model, receive engine thrust and torque, spacecraft mass, center of mass, inertia and flight instructions, read spacecraft initial position and attitude information and celestial ephemeris information, analyze spacecraft position and attitude information at the next moment, as well as sun and moon position and sun pointing information; Establish the position and attitude and external environment interface to transmit the spacecraft position and attitude information determined by the attitude-orbit dynamics model, as well as the sun-moon position and sun-pointing information to the subsystems that need such information.

6. The spacecraft system-level electromechanical thermal signal coupling distributed simulation method based on single-machine granularity according to claim 1 is characterized in that: The steps of establishing the overall spacecraft energy model include: Establish a flight command interface and connect it to the overall information model to receive the power on / off commands of each single machine issued by the overall information model; An overall circuit control model is established. The overall circuit control model receives the current generated electric energy through the electrical interface of the power subsystem. It receives flight instructions to control the on and off of the single-machine circuits of each subsystem, and distributes the generated electric energy of the power subsystem to the single-machine models of each subsystem model for electrical characteristic data analysis.

7. The spacecraft system-level electromechanical thermal signal coupling distributed simulation method based on single-machine granularity according to claim 1 is characterized in that: The steps of establishing the overall spacecraft thermal model include: Establish a thermal network model of the whole device, receive the temperature data of each subsystem, form the comprehensive temperature data of the whole device, and transmit it to the thermal control subsystem model through the thermal interface of the thermal control subsystem; The thermal control subsystem model receives the integrated temperature data of the whole device, and at the same time receives the spacecraft posture and sun and moon position information of the mechanical and dynamic overall model to calculate the external heat flux, integrates the spacecraft temperature data and external heat flux, and calculates the integrated heat flux data of the whole device based on the expected temperature of each single unit and the thermodynamic equation; The whole-device thermal network model receives the comprehensive heat flow data of the whole device from the thermal control subsystem model, forms the heat flow data of each single machine, and distributes it to the single machine model of each subsystem model for thermal characteristic analysis.

8. A spacecraft system-level electromechanical thermal signal coupling distributed simulation system based on single-machine granularity, characterized in that: include: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the spacecraft system-level electromechanical, thermal and signal coupling distributed simulation method based on single-machine granularity as described in one of claims 1 to 7.

9. A readable storage medium, characterized in that: A computer program is stored thereon, and when the program is executed by a processor, the distributed simulation method of spacecraft system-level electromechanical thermal signal coupling based on single-machine granularity as described in one of claims 1 to 7 is implemented.

10. A computer program product, characterized in that The computer program product comprises: a computer program, which, when being executed, executes the spacecraft system-level electromechanical thermal signal coupling distributed simulation method based on single-machine granularity as claimed in any one of claims 1 to 7.

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