A semi-physical simulation system with automatic cycle control

Abstract

The invention discloses a semi-physical simulation system of automatic cycle control, which relates to the technical field of semi-physical simulation in ballistic missile simulation technology, including automatic cycle test software, Higale real-time simulation system, inertial measurement combination simulator, integrated navigation simulator, flight control computer, steering gear system and program-controlled power supply system; the automatic cycle test software and the Higale real-time simulation system are connected via TCP / IP protocol to automatically complete test parameter binding and test result acquisition, and the Higale real-time simulation system is deployed with a six-degree-of-freedom dynamics module, an inertial measurement combination simulator and an integrated navigation simulator. The invention reduces the impact on time and accuracy brought by human operation, greatly improves test efficiency, thereby improving the coverage of test parameter states and the credibility of simulation results, and reducing the hidden dangers of flight tests.

Description

Technical Field

[0001] The invention relates to the technical field of semi-physical simulation in ballistic missile simulation technology, and in particular to a semi-physical simulation system with automatic cycle control. Background Art

[0002] The semi-physical simulation system is responsible for completing the semi-physical simulation test, which is designed according to the flight principle of the aircraft. It uses physical equipment such as flight control computers and steering gears and digital model simulation functions to simulate the entire flight process and verify the correctness of flight navigation algorithms, guidance algorithms and attitude stabilization algorithms. The semi-physical simulation system is mainly composed of the Higale (flight control component simulator) real-time simulation system, inertial measurement combination simulator, integrated navigation simulator, flight control computer, steering gear system and power supply system. The test process is controlled by the simulation host computer.

[0003] The Higale real-time simulation system collects servo feedback information, uses the servo feedback information as input to solve the six-degree-of-freedom kinematic equations of the projectile in real time, and collects timing actions to switch the data of each flight segment (torque, apparent acceleration, mass, center of mass, moment of inertia, etc. of each flight segment), outputs pulse number information and combined navigation information that characterize the position and attitude of the projectile, and displays the projectile data (angular velocity, servo feedback, angle of attack, sideslip angle, attitude angle, speed, position, altitude, Mach number, etc.) in real time in the form of a curve.

[0004] The inertial measurement combination simulator uses CAN (Controller Area Network) communication to receive the pulse number information (digital quantity) sent by the Higale real-time simulation system, and sends it to the flight control computer in real time through digital IO (input / output).

[0005] The integrated navigation simulator uses CAN communication to receive the speed and position navigation information sent by the Higale real-time simulation system, and performs corresponding coordinate system conversion to generate satellite navigation information, which is sent to the flight control computer via wired means; the integrated navigation simulator adopts GPS / GLONASS satellite integrated navigation method.

[0006] The flight control computer runs the flight control software, receives the pulse number (analog quantity) information sent by the inertial measurement combination simulator through the CAN interface, calculates the angular velocity and position information of the missile body in real time, and receives satellite navigation positioning information. It uses the angular velocity, position and navigation positioning information to calculate the servo control signal in real time according to the navigation guidance control algorithm, and sends various timings according to the flight status to accurately control the flight of the missile.

[0007] The servo system deflects according to the servo control signal sent by the flight control computer, thereby changing the attitude of the missile and controlling the flight of the aircraft.

[0008] The test operation is controlled by the simulation host computer and the power supply system. The simulation host computer is installed with an operating system and is equipped with peripherals such as a display and keyboard and mouse. The test personnel use the Higale software to configure the parameters before the test, and the test personnel reset the flight control computer, servo and other physical equipment through the switch of the power supply system. After each test, the test data uploaded by the simulation real-time system is obtained and processed on the simulation host computer. Since each test requires manual intervention at the beginning and end of the test, the execution efficiency of the simulation test is low. Only limited test states can be selected for testing during state verification. This results in insufficient coverage of the flight state in the simulated flight test, and it is impossible to effectively verify the correctness of the flight control algorithm under multiple combination states, leaving hidden dangers for the final flight. Summary of the invention

[0009] In view of the defects existing in the prior art, the purpose of the present invention is to provide a semi-physical simulation system with automatic cycle control, which reduces the impact on time and accuracy caused by human operation, greatly improves the test efficiency, and further improves the coverage of test parameter states and the credibility of simulation results, reducing the hidden dangers of flight tests.

[0010] To achieve the above purpose, the technical solution adopted by the present invention is to include automatic cycle test software, Higale real-time simulation system, inertial measurement combination simulator, integrated navigation simulator, flight control computer, steering gear system and program-controlled power supply system;

[0011] The automatic cycle test software and the Higale real-time simulation system are connected via TCP / IP protocol to automatically complete the test parameter binding and test result acquisition. The Higale real-time simulation system is deployed with a six-degree-of-freedom dynamics module, an inertial measurement combination simulator, and an integrated navigation simulator;

[0012] The automatic cycle test software and the program-controlled power supply system are connected via the TCP / IP protocol to complete the power distribution and power-off operation during the entire test process, as well as the automatic operation of the flight control computer and the steering gear system;

[0013] The Higale real-time simulation system, the flight control computer and the steering gear system are connected via the CAN bus protocol to complete the data exchange of the flight test.

[0014] Based on the above technical solutions,

[0015] The automatic cycle test software is developed based on Java;

[0016] The automatic cycle test software generates a number of specified parameter combinations according to requirements before the test begins, which serve as binding parameters for each subsequent flight simulation test;

[0017] After the test is completed, the automatic cycle test software copies the test process data from the Higale real-time simulation system and stores it locally, selects the required test process data for calculation and drawing operations, and records the results in the test document.

[0018] Based on the above technical solutions,

[0019] When the automatic cycle test software is binding parameters, the TCP / IP protocol is used to connect to the six-degree-of-freedom dynamics model, and the HTTPS interface encapsulated by Java is used to configure the parameters in the six-degree-of-freedom dynamics module and start the model calculation;

[0020] During the calculation process of the six-degree-of-freedom dynamics module, the automatic cycle test software checks the calculation status of the six-degree-of-freedom dynamics module at a fixed frequency to determine whether the test is completed.

[0021] Based on the above technical solutions,

[0022] The simulation host computer deployed in the automatic cycle test software is connected to the program-controlled power supply system via the TCP / IP protocol;

[0023] The program-controlled power supply system controls the power distribution and power off of the flight control computer and the power distribution and power off of the steering gear system through the power supply cable.

[0024] Based on the above technical solutions,

[0025] After receiving the binding parameters and the model calculation start signal, the six-degree-of-freedom dynamics module starts the model calculation;

[0026] The six-degree-of-freedom dynamics module exchanges timing control information with the flight control computer via the CAN bus;

[0027] The timing control information includes a state switching signal for igniting and shutting down the engine.

[0028] Based on the above technical solutions,

[0029] The six-degree-of-freedom dynamics module sends time, speed and position information to the integrated navigation simulator;

[0030] The six-degree-of-freedom dynamics module sends the angular velocity and apparent acceleration information to the inertial measurement combination simulator;

[0031] The integrated navigation simulator generates simulated integrated navigation information based on time, speed and position information and sends it to the flight control computer via the CAN bus;

[0032] The inertial measurement combination simulator generates simulated inertial navigation pulse data based on angular rate and apparent acceleration information and sends the data to the flight control computer via the CAN bus.

[0033] Based on the above technical solutions,

[0034] The six-degree-of-freedom dynamics module obtains the servo feedback signal of the servo system through the CAN bus, performs dynamic model solution, and obtains the apparent acceleration, torque, mass and moment of inertia data in each flight segment.

[0035] Based on the above technical solutions,

[0036] The six-degree-of-freedom dynamics module is also used to switch the data of each flight segment in real time according to the operating status switching information issued by the flight control computer, starting from the initial leveling segment, passing through the active segment, the final repair segment, the maneuvering segment and finally the entire flight process of landing.

[0037] Based on the above technical solutions,

[0038] The flight control computer is used to perform integrated flight control;

[0039] The flight control computer receives the pulse number information representing the position information, attitude and combined navigation positioning information sent by the Higale real-time simulation system through the CAN bus, calculates the attitude and position information of the missile body in real time, calculates the servo control signal in real time according to the guidance and attitude control algorithm, and issues timing commands according to the flight status to control the flight of the aircraft.

[0040] Based on the above technical solutions,

[0041] The steering gear system receives the rudder control signal sent by the flight control computer through the CAN bus, and synchronously feeds back the rudder control signal to the six-degree-of-freedom dynamics model.

[0042] Compared with the prior art, the advantages of the present invention are: using TCP / IP protocol and CAN protocol, utilizing Higale real-time simulation system, incorporating the digital model and physical peripherals required for the entire semi-physical simulation test into the same network system, realizing the semi-physical simulation test of multi-parameter combination and automatic cycle, and making the simulation test without human intervention, reducing the time and accuracy impact caused by human operation, greatly improving the test efficiency, and then improving the coverage of the test parameter state and the credibility of the simulation results, reducing the hidden dangers of flight test. At the same time, the program-controlled power supply system controlled by program logic supplies and distributes the power system in a standardized order, which also reduces the potential safety hazards of electricity use caused by human operation, and prevents the test equipment from being damaged due to irregular electricity use. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0044] Figure 1 It is a structural schematic diagram of a semi-physical simulation system of automatic cycle control in an embodiment of the present invention;

[0045] Figure 2 It is an application flow chart of the semi-physical simulation system in an embodiment of the present invention. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments.

[0047] See also Figure 1 As shown, the embodiment of the present invention provides a semi-physical simulation system with automatic cycle control, which combines the digital simulation model and physical external equipment required for the semi-physical simulation test into the same communication network through TCP (Transmission Control Protocol) / IP (Internet Protocol) protocol and CAN bus protocol, and then completes the automatic execution of test parameter generation and binding, power distribution of physical equipment, simulated flight test, data collection and other tasks in the automatic cycle test software, thereby reducing labor costs and improving the operating efficiency of the entire test. After using the simulation system, since there is no need for human participation and the test process is controllable, the semi-physical simulation test can be carried out continuously when the equipment is sufficient, and the simulation state can theoretically complete the full permutation and combination of multiple parameters. Under such conditions, the various working conditions simulated by the semi-physical simulation test are fully verified, which increases the credibility of the test results and reduces the risk of flight tests. Figure 1 In, in means input and out means output.

[0048] The semi-physical simulation system of the present invention comprises automatic cycle test software, Higale real-time simulation system, inertial measurement combination simulator, combined navigation simulator, flight control computer, steering gear system and program-controlled power supply system. The semi-physical simulation system of automatic cycle control of the present invention uses TCP / IP protocol and CAN protocol to connect the automatic cycle test software, six-degree-of-freedom dynamics module, program-controlled power supply system, flight control computer and steering gear system into the same equipment network, and the TCP / IP protocol is used to complete the communication functions of data preprocessing and analysis before and after the test and power supply and distribution of the equipment, and the CAN protocol is used to complete the communication function of flight test data during model solution. The automatic operation of the entire semi-physical simulation test is controlled and completed by the automatic cycle test software.

[0049] The automatic cycle test software and the Higale real-time simulation system are connected via the TCP / IP protocol to automatically complete the binding of test parameters and the acquisition of test results. The Higale real-time simulation system is equipped with a six-degree-of-freedom dynamics module, an inertial measurement combination simulator, and an integrated navigation simulator; the automatic cycle test software and the programmable power supply system are connected via the TCP / IP protocol to complete the power distribution and power-off operations during the entire test process, as well as the automatic operation of the flight control computer and the steering gear system; the Higale real-time simulation system, the flight control computer, and the steering gear system are connected via the CAN bus protocol to complete the data interaction of the flight test.

[0050] In an embodiment of the present invention, the automatic cycle test software is developed based on Java (a computer programming language); before the test starts, the automatic cycle test software generates several groups of specified parameter combinations according to requirements as binding parameters for each subsequent flight simulation test; after the test is completed, the automatic cycle test software copies the test process data from the Higale real-time simulation system and stores it locally, selects the required test process data for calculation and drawing operations, and records the results in the test document.

[0051] When binding parameters, the automatic cycle test software uses the TCP / IP protocol to connect to the six-degree-of-freedom dynamics model, and uses the java-encapsulated https (Hypertext Transfer Protocol Security) interface to configure the parameters in the six-degree-of-freedom dynamics module and start the model calculation; during the calculation process of the six-degree-of-freedom dynamics module, the automatic cycle test software checks the calculation status of the six-degree-of-freedom dynamics module at a fixed frequency to determine whether the test is over.

[0052] In an embodiment of the present invention, the simulation host computer deployed in the automatic cycle test software is connected to the program-controlled power system through the TCP / IP protocol; the program-controlled power system controls the power distribution and power failure of the flight control computer and the power distribution and power failure of the steering gear system through the power supply cable. The program-controlled power system supports the Visa (Virtual Instrument Software Architecture) instrument programming protocol. In the present invention. The C language Visa interface adapted by the program-controlled power system is used to encapsulate the functions required by the program-controlled power system into an executable exe program, and then the program is called in the automatic cycle test software to complete the automatic control of the program-controlled power system.

[0053] In the embodiment of the present invention, after the six-degree-of-freedom dynamics module receives the binding parameters and the start model calculation signal, the model calculation is started; the six-degree-of-freedom dynamics module exchanges timing control information with the flight control computer through the CAN bus; the timing control information includes the state switching signal of ignition and shutdown of the engine. The six-degree-of-freedom dynamics module sends the time, speed and position information to the combined navigation simulator; the six-degree-of-freedom dynamics module sends the angular rate and apparent acceleration information to the inertial measurement combination simulator; the combined navigation simulator generates simulated combined navigation information based on the time, speed and position information and sends it to the flight control computer through the CAN bus; the inertial measurement combination simulator generates simulated inertial navigation pulse data based on the angular rate and apparent acceleration information and sends it to the flight control computer through the CAN bus. The six-degree-of-freedom dynamics module obtains the servo feedback signal of the servo system through the CAN bus, performs dynamic model solution, and obtains the apparent acceleration, torque, mass and moment of inertia data in each flight segment. The six-degree-of-freedom dynamics module is also used to switch the data of each flight segment in real time according to the operating status switching information sent by the flight control computer, starting from the initial leveling segment, through the active segment, final repair segment, maneuvering segment to the entire flight process of landing, to achieve verification of the navigation, guidance and control algorithms and flight control software of the entire flight process, and at the same time realize verification of the launch process design.

[0054] That is, in specific applications, after the six-degree-of-freedom dynamics module receives the binding parameters and the model calculation start signal, the model calculation is started; the six-degree-of-freedom dynamics module exchanges timing control information with the flight control computer through the CAN bus; the six-degree-of-freedom dynamics module sends the time, speed and position information to the combined navigation simulator; the six-degree-of-freedom dynamics module sends the angular rate and apparent acceleration information to the inertial measurement combination simulator; the combined navigation simulator generates simulated combined navigation information based on the time, speed and position information and sends it to the flight control computer through the CAN bus; the inertial measurement combination simulator generates simulated inertial navigation pulse data based on the angular rate and apparent acceleration information and sends it to the flight control computer through the CAN bus. The six-degree-of-freedom dynamics module obtains the servo feedback signal of the servo system through the CAN bus, solves the dynamic model, and obtains the apparent acceleration, torque, mass and moment of inertia data in each flight segment. Then, the data of each flight segment is switched in real time according to the operating status switching information sent by the flight control computer, starting from the initial leveling segment, and passing through the active segment, final repair segment, maneuvering segment to the entire flight process until landing, thereby realizing the verification of the navigation, guidance and control algorithm and flight control software of the entire flight process, and at the same time realizing the verification of the launch process design.

[0055] In the embodiment of the present invention, the flight control computer is used to perform integrated flight control; the flight control computer receives the pulse number information representing the position information, attitude and the combined navigation positioning information sent by the Higale real-time simulation system through the CAN bus, calculates the attitude and position information of the missile body in real time, calculates the servo control signal in real time according to the guidance and attitude control algorithm, and issues a timing command according to the flight status to control the flight of the aircraft.

[0056] The servo system receives the rudder control signal from the flight control computer through the CAN bus, and synchronously feeds the rudder control signal back to the six-degree-of-freedom dynamic model.

[0057] The following combination Figure 2 The application process of the semi-physical simulation system for automatic cycle control according to the embodiment of the present invention is specifically described.

[0058] S1: The automatic cycle test software generates the parameter combination required for the test according to the user's needs, and then goes to S2:

[0059] S2: The automatic cycle test software controls the program-controlled power system to distribute power to the steering gear system and the flight control computer, starts the flight control computer, and then goes to S3;

[0060] S3: The automatic cycle test software selects a set of test parameters to perform parameter binding on the six-degree-of-freedom dynamics module in the Higale real-time simulation system, starts the test, and goes to S4;

[0061] S4: The Higale real-time simulation system starts and simulates the missile sending pulse number information in the horizontal, erection and vertical states through the CAN test bus, and then goes to S5 and S6;

[0062] S5: After the flight control completes leveling, take off and go to S7;

[0063] S6: The flight control computer receives pulse number information through the CAN bus, performs leveling calculation, calculates the initial attitude angle and position information, sends a "zero second" message, starts the entire flight process, and goes to S7;

[0064] S7: After receiving the "zero second" information, the Higale real-time simulation system receives the steering gear feedback information through the CAN bus, and uses the steering gear feedback information to solve the six-degree-of-freedom equation, outputs the angular rate and apparent acceleration information, and goes to S8;

[0065] S8: Determine whether the aircraft has landed. If not, go to S9. If yes, go to S12.

[0066] S9: The inertial measurement combination simulator converts the angular rate and apparent acceleration information into pulse number information and sends it to the flight control computer via the CAN bus. The combined navigation simulator converts the missile speed and position information into satellite navigation information and sends it to the flight control computer via the CAN control bus, and then goes to S10;

[0067] S10: The flight control computer uses the pulse number information received by the CAN bus and the combined navigation information received through the CAN bus to solve the navigation guidance control algorithm and generate a steering gear control signal, and then sends the steering gear control signal to the steering gear system, and then goes to S11;

[0068] S11: The servo system uses the servo control signal received by the CAN bus to execute the action, and sends the servo feedback information to the CAN bus, and then goes to S7;

[0069] S12: The automatic cycle test software determines that a round of flight test is completed through test data, completes data storage for this round of flight test, and performs data analysis and test report generation and goes to S13;

[0070] S13: The automatic cycle test software completes the operation of shutting down the servo and the flight control computer in sequence through the program-controlled power supply system, and then goes to S14;

[0071] S14: Determine whether all tests are completed, if so, end, if not, go to S2.

[0072] The semi-physical simulation system with automatic cycle control in the embodiment of the present invention uses the TCP / IP protocol and the CAN protocol, and utilizes the Higale real-time simulation system to incorporate the digital model and physical peripherals required for the entire semi-physical simulation test into the same network system, thereby realizing the semi-physical simulation test with automatic cycle of multiple parameter combinations. The present invention makes it possible to conduct simulation tests without human intervention, reduces the time and accuracy impact caused by human operation, greatly improves the test efficiency, and further improves the coverage of the test parameter state and the credibility of the simulation results, and reduces the hidden dangers of flight tests. At the same time, the program-controlled power supply system controlled by program logic supplies and distributes the power in a standardized order, which also reduces the potential safety hazards of electricity use caused by human operation, and prevents the test equipment from being damaged due to irregular electricity use.

[0073] In the description of the present application, it should be noted that the terms "upper", "lower", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0074] It should be noted that, in this application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0075] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. A semi-physical simulation system with automatic cycle control, characterized in that: Including automatic cycle test software, Higale real-time simulation system, inertial measurement combination simulator, integrated navigation simulator, flight control computer, steering gear system and programmable power supply system; The automatic cycle test software and the Higale real-time simulation system are connected via TCP / IP protocol to automatically complete the test parameter binding and test result acquisition. The Higale real-time simulation system is deployed with a six-degree-of-freedom dynamics module, an inertial measurement combination simulator, and an integrated navigation simulator; The automatic cycle test software and the program-controlled power supply system are connected via the TCP / IP protocol to complete the power distribution and power-off operation during the entire test process, as well as the automatic operation of the flight control computer and the steering gear system; The Higale real-time simulation system, the flight control computer and the steering gear system are connected via the CAN bus protocol to complete the data interaction of the flight test; The application process of the automatic cycle controlled semi-physical simulation system includes: S1: The automatic cycle test software generates the parameter combination required for the test according to the user's needs, and then goes to S2: S2: The automatic cycle test software controls the program-controlled power system to distribute power to the steering gear system and the flight control computer, starts the flight control computer, and then goes to S3; S3: The automatic cycle test software selects a set of test parameters to perform parameter binding on the six-degree-of-freedom dynamics module in the Higale real-time simulation system, starts the test, and goes to S4; S4: The Higale real-time simulation system starts and simulates the missile sending pulse number information in the horizontal, erection and vertical states through the CAN test bus, and then goes to S5 and S6; S5: After the flight control completes leveling, take off and go to S7; S6: The flight control computer receives pulse number information through the CAN bus, performs leveling calculation, calculates the initial attitude angle and position information, sends out zero-second information, starts the entire flight process, and goes to S7; S7: After receiving the zero-second information, the Higale real-time simulation system receives the steering gear feedback information through the CAN bus, and uses the steering gear feedback information to solve the six-degree-of-freedom equation, outputs the angular rate and apparent acceleration information, and goes to S8; S8: Determine whether the aircraft has landed. If not, go to S9. If yes, go to S12. S9: The inertial measurement combination simulator converts the angular rate and apparent acceleration information into pulse number information and sends it to the flight control computer via the CAN bus. The combined navigation simulator converts the missile speed and position information into satellite navigation information and sends it to the flight control computer via the CAN control bus, and then goes to S10; S10: The flight control computer uses the pulse number information received by the CAN bus and the combined navigation information received through the CAN bus to solve the navigation guidance control algorithm and generate a steering gear control signal, and then sends the steering gear control signal to the steering gear system, and then goes to S11; S11: The servo system uses the servo control signal received by the CAN bus to execute the action, and sends the servo feedback information to the CAN bus, and then goes to S7; S12: The automatic cycle test software determines that a round of flight test is completed through test data, completes data storage for this round of flight test, and performs data analysis and test report generation and goes to S13; S13: The automatic cycle test software completes the operation of shutting down the servo and the flight control computer in sequence through the program-controlled power supply system, and then goes to S14; S14: Determine whether all tests are completed, if so, end, if not, go to S2.

2. The semi-physical simulation system of automatic cycle control according to claim 1, characterized in that: The automatic cycle test software is developed based on Java; The automatic cycle test software generates a number of specified parameter combinations according to requirements before the test begins, which serve as binding parameters for each subsequent flight simulation test; After the test is completed, the automatic cycle test software copies the test process data from the Higale real-time simulation system and stores it locally, selects the required test process data for calculation and drawing operations, and records the results in the test document.

3. The semi-physical simulation system of automatic cycle control as claimed in claim 2, characterized in that: When the automatic cycle test software is binding parameters, the TCP / IP protocol is used to connect to the six-degree-of-freedom dynamics model, and the HTTPS interface encapsulated by Java is used to configure the parameters in the six-degree-of-freedom dynamics module and start the model calculation; During the calculation process of the six-degree-of-freedom dynamics module, the automatic cycle test software checks the calculation status of the six-degree-of-freedom dynamics module at a fixed frequency to determine whether the test is completed.

4. The semi-physical simulation system of automatic cycle control as claimed in claim 1, characterized in that: The simulation host computer deployed in the automatic cycle test software is connected to the program-controlled power supply system via the TCP / IP protocol; The program-controlled power supply system controls the power distribution and power off of the flight control computer and the power distribution and power off of the steering gear system through the power supply cable.

5. The semi-physical simulation system of automatic cycle control according to claim 1, characterized in that: After receiving the binding parameters and the model calculation start signal, the six-degree-of-freedom dynamics module starts the model calculation; The six-degree-of-freedom dynamics module exchanges timing control information with the flight control computer via the CAN bus; The timing control information includes a state switching signal for igniting and shutting down the engine.

6. The semi-physical simulation system of automatic cycle control as claimed in claim 5, characterized in that: The six-degree-of-freedom dynamics module sends time, speed and position information to the integrated navigation simulator; The six-degree-of-freedom dynamics module sends the angular velocity and apparent acceleration information to the inertial measurement combination simulator; The integrated navigation simulator generates simulated integrated navigation information based on time, speed and position information and sends it to the flight control computer via the CAN bus; The inertial measurement combination simulator generates simulated inertial navigation pulse data based on angular rate and apparent acceleration information and sends the data to the flight control computer via the CAN bus.

7. The semi-physical simulation system of automatic cycle control according to claim 6, characterized in that: The six-degree-of-freedom dynamics module obtains the servo feedback signal of the servo system through the CAN bus, performs dynamic model solution, and obtains the apparent acceleration, torque, mass and moment of inertia data in each flight segment.

8. The semi-physical simulation system of automatic cycle control as claimed in claim 7, characterized in that: The six-degree-of-freedom dynamics module is also used to switch the data of each flight segment in real time according to the operating status switching information issued by the flight control computer, starting from the initial leveling segment, passing through the active segment, the final repair segment, the maneuvering segment and finally the entire flight process of landing.

9. The semi-physical simulation system of automatic cycle control according to claim 1, characterized in that: The flight control computer is used to perform integrated flight control; The flight control computer receives the pulse number information representing the position information, attitude and combined navigation positioning information sent by the Higale real-time simulation system through the CAN bus, calculates the attitude and position information of the missile body in real time, calculates the servo control signal in real time according to the guidance and attitude control algorithm, and issues timing commands according to the flight status to control the flight of the aircraft.

10. The semi-physical simulation system of automatic cycle control according to claim 1, characterized in that: The steering gear system receives the rudder control signal sent by the flight control computer through the CAN bus, and synchronously feeds back the rudder control signal to the six-degree-of-freedom dynamics model.

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