A modular dynamics simulation system, method, medium, and equipment with general applicability

Abstract

A general-purpose modular dynamics simulation system comprises a kernel layer, a protocol layer, and a hardware layer. The kernel layer includes: a dynamics calculation module, an environment simulation module, a sensor simulation module, an actuator simulation module, and a kernel layer configuration module. The protocol layer includes: a sensor interface module, an actuator interface module, and a protocol layer configuration module. The hardware layer includes: a hardware board driver module and a hardware layer configuration module. This invention solves problems in current ground testing systems such as severe software-hardware coupling, the need to redevelop dynamics software for different satellite models, and difficulties in changing satellite model parameters and component product parameters by employing a hierarchical design approach for ground dynamics software through three-layer decoupling, modular encapsulation design, configuration via configuration files, and parameter modification via host computer commands. This improves the versatility and convenience of dynamics software development and has significant application and promotion value.

Description

Technical Field

[0001] This invention relates to a dynamics simulation system and method. Background Technology

[0002] The ground dynamics simulation and testing system of the satellite attitude and orbit control subsystem is a core part of satellite mathematical simulation and semi-physical simulation testing. It undertakes functions such as interacting with on-board products, simulating the space environment, simulating satellite motion, outputting simulation simulator data, and simulating the function of actuators.

[0003] Currently used semi-physical dynamics simulation systems generally run on real-time systems, which suffer from practical problems such as dependence on the real-time system hardware environment, unclear model configuration, severe parameter coupling, and difficulties in state control, leaving technical hidden dangers for the design and verification of the attitude and orbit control subsystem. In addition, current dynamics simulation systems lack universality across different models and portability under various test systems. Therefore, it is necessary to establish a general-purpose modular dynamics simulation system with clear hierarchy, controllable technical state, and portability. Summary of the Invention

[0004] The technical problem solved by this invention is to overcome the shortcomings of the prior art and provide a modular dynamic simulation system, method, medium and equipment with universality. It solves the problems of severe hardware and software coupling and poor universality and scalability in the current technology, improves the universal design of dynamic simulation system and has good application and promotion value.

[0005] The technical solution of this invention is: a general-purpose modular dynamics simulation system, including a kernel layer, a protocol layer, and a hardware layer;

[0006] The hardware layer includes the actuator hardware board driver module and the sensor hardware board driver module;

[0007] The actuator hardware board driver module reads the actuator signals from the spacecraft and transmits the reading results to the actuator interface module at the protocol layer;

[0008] The sensor hardware board driver module reads the sensor signal from the sensor interface simulation module of the protocol layer and outputs the real sensor signal through the corresponding hardware board;

[0009] The protocol layer includes a sensor interface simulation module and an actuator interface simulation module;

[0010] The execution mechanism interface simulation module reads the execution mechanism semaphore from the hardware layer, decodes it according to the execution mechanism protocol, obtains the execution mechanism instruction, and transmits the execution mechanism instruction to the execution mechanism simulation module in the kernel layer;

[0011] The sensor interface simulation module reads the physical quantities measured by the sensor from the sensor simulation module in the kernel layer, packages them according to the sensor protocol, obtains the sensor output signal, and transmits the sensor output signal to the sensor hardware board driver module in the hardware layer.

[0012] The kernel layer includes: a dynamics calculation module, an environment simulation module, a sensor simulation module, and an actuator simulation module;

[0013] The actuator simulation module receives actuator instructions from the protocol layer, calculates the instructions into physical quantities output by the actuator, and transmits them to the dynamics calculation module.

[0014] The environmental simulation module generates environmental simulation physical quantities, which are then transmitted to the dynamics calculation module and the sensor simulation module.

[0015] The dynamics calculation module calculates the physical quantities of the spacecraft's dynamic state based on the physical quantities output by the actuators and the physical quantities of the simulated environment, and then transmits the physical quantities of the spacecraft's dynamic state to the sensor simulation module.

[0016] The sensor simulation module calculates the sensor measurement physical quantities based on the spacecraft dynamic state physical quantities and the environmental simulation physical quantities, and then transmits the sensor measurement physical quantities to the sensor interface simulation module of the protocol layer.

[0017] Furthermore, the hardware layer also includes a hardware layer configuration module. The hardware layer configuration module reads configuration information from the host computer or configuration file and modifies the hardware layer module parameters of each module in real time. The hardware layer module parameters are the parameters required by the hardware layer driver functions, including board number, channel number, baud rate, and parity bit.

[0018] Furthermore, the protocol layer also includes a protocol layer configuration module; the protocol layer configuration module reads configuration information from the host computer or configuration file and modifies the protocol layer module parameters of each module in real time.

[0019] Furthermore, the kernel layer also includes a kernel layer configuration module; the kernel layer configuration module reads configuration information from the host computer or configuration file and modifies the kernel layer module parameters of each kernel layer module in real time; the kernel layer module parameters are related to the selected single-machine simulation computing principle.

[0020] A general modular dynamics simulation method includes the following steps:

[0021] Based on the number and type of individual units installed on the spacecraft, which include actuators and sensors, the number and type of individual units on the spacecraft are set and written into the kernel layer configuration module configuration file;

[0022] Set the parameters for each standalone kernel layer module and write them to the kernel layer configuration module configuration file;

[0023] Set the environment simulation parameters and write them to the kernel layer configuration module configuration file;

[0024] Set the parameters for the selected stand-alone type and write them into the protocol layer configuration module configuration file; the protocol layer parameter configuration should be set with reference to the communication protocols of each stand-alone unit and other design documents.

[0025] Set the test equipment board number and type according to the test equipment manual, and write them into the hardware layer configuration module configuration file;

[0026] After setting the simulation time, run the dynamics simulation program.

[0027] Furthermore, the operation steps of the dynamic simulation program include:

[0028] The kernel layer configuration module reads configuration information from the kernel layer configuration module configuration file and modifies the kernel layer module parameters of each kernel layer module in real time.

[0029] The protocol layer configuration module reads configuration information from the protocol layer configuration module configuration file and modifies the protocol layer module parameters of each module in real time.

[0030] The hardware layer configuration module reads configuration information from the hardware layer configuration module configuration file and modifies the hardware layer module parameters of each hardware layer module in real time.

[0031] The actuator hardware board driver module reads the actuator signals from the spacecraft and transmits the reading results to the actuator interface module at the protocol layer;

[0032] The execution mechanism interface simulation module reads the execution mechanism semaphore from the hardware layer, decodes it according to the execution mechanism protocol, obtains the execution mechanism instruction, and transmits the execution mechanism instruction to the execution mechanism simulation module in the kernel layer;

[0033] The actuator simulation module receives actuator instructions from the protocol layer, calculates the instructions into actuator output physical quantities, and transmits them to the dynamics calculation module. The dynamics calculation module calculates the spacecraft dynamic state physical quantities based on the actuator output physical quantities and the environmental simulation physical quantities, and transmits the spacecraft dynamic state physical quantities to the sensor simulation module.

[0034] The environmental simulation module generates environmental simulation physical quantities and transmits these quantities to the dynamics calculation module and the sensor simulation module.

[0035] The sensor simulation module calculates the sensor measurement physical quantities based on the spacecraft dynamic state physical quantities and the environmental simulation physical quantities, and transmits the sensor measurement physical quantities to the sensor interface simulation module of the protocol layer;

[0036] The sensor interface simulation module reads the physical quantities measured by the sensor from the sensor simulation module in the kernel layer, packages them according to the sensor protocol, obtains the sensor output signal, and transmits the sensor output signal to the sensor hardware board driver module in the hardware layer.

[0037] The sensor hardware board driver module reads the sensor signal from the sensor interface simulation module of the protocol layer and outputs the real sensor signal through the corresponding hardware board.

[0038] A computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the general modular dynamics simulation method.

[0039] A general-purpose modular dynamics simulation device includes a memory, a processor, and a computer program stored in the memory that can run on the processor, characterized in that, when the processor executes the computer program, it implements the steps of the general-purpose modular dynamics simulation method.

[0040] The advantages of this invention compared to the prior art are:

[0041] (1) This invention solves the problem of severe software and hardware coupling in ground testing systems by using a hierarchical design approach for ground dynamics software with three layers of decoupling. The three layers are the kernel layer, protocol layer, and hardware layer. Communication between the three layers is achieved through designed structure variables. Hardware driver-related functions are implemented in the hardware layer, and semaphore and physical quantity decoding and transmission are implemented in the protocol layer.

[0042] (2) This invention solves the problem of needing to redevelop dynamics software for different satellite models by using modular packaging design and configuration files. Different satellite models only need to change the module configuration files, without needing to redevelop the dynamics software code, thus achieving modular packaging and rapid dynamics software implementation;

[0043] (3) This invention overcomes the difficulty of changing satellite model parameters and component product parameters in the prior art by using modular packaging design and upper computer instruction to modify parameters, thereby improving software testability. Attached Figure Description

[0044] Figure 1 This is a schematic diagram of a modular dynamics simulation system with universality according to the present invention. Detailed Implementation

[0045] The present invention will be described in conjunction with the accompanying drawings and embodiments.

[0046] like Figure 1As shown, a general-purpose modular dynamics simulation system includes a kernel layer, a protocol layer, and a hardware layer. The kernel layer includes: a dynamics calculation module, an environment simulation module, a sensor simulation module, an actuator simulation module, and a kernel layer configuration module; the protocol layer includes: a sensor interface module, an actuator interface module, and a protocol layer configuration module; the hardware layer includes: a hardware board driver module and a hardware layer configuration module. Wherein:

[0047] The actuator hardware board driver module will read the actuator semaphores from the spacecraft, and transmit the results of reading the actual hardware semaphores to the protocol layer. Generally, semaphores refer to signals actually generated by the hardware, such as voltage, level, pulse width, serial port data, bus data, etc.

[0048] The sensor hardware board driver module will read the sensor signal from the protocol layer and output the actual hardware sensor signal through the corresponding hardware board.

[0049] The hardware layer configuration module reads configuration information from the host computer or configuration files and modifies the hardware layer module parameters in real time. These hardware layer module parameters are required by the hardware layer driver functions, such as board number, channel number, baud rate, and parity settings.

[0050] The actuator interface simulation module reads the actuator semaphore from the hardware layer, decodes it according to the actuator protocol, obtains the actuator instruction, and transmits the actuator instruction to the kernel layer.

[0051] The sensor interface simulation module reads the physical quantities measured by the sensor from the kernel layer, packages them according to the sensor protocol, obtains the sensor output signal, and transmits the sensor output signal to the sensor hardware board driver module at the hardware layer. Generally, physical quantities refer to variables that describe physical state information, such as the physical quantities measured by the sensor including attitude, angular velocity, position, and velocity, the physical quantities output by the actuator including force and torque, and the physical quantities simulated by the environment including gravitational field and magnetic field.

[0052] The protocol layer configuration module reads configuration information from the host computer or configuration file and modifies the protocol layer module parameters of each module in real time. The protocol layer module parameters are generally related to the selected product model protocol. For example, if a certain type of star sensor is selected, its output protocol includes a "number of stars extracted" variable, then the "number of stars extracted" variable can be set in the protocol layer module parameter settings of that star sensor.

[0053] The actuator simulation module receives actuator instructions from the protocol layer, calculates the instructions into physical quantities that the actuator outputs, and transmits them to the dynamics calculation module.

[0054] The environmental simulation module generates environmental simulation physical quantities, which are then transmitted to the dynamics calculation module and the sensor simulation module.

[0055] The dynamics calculation module calculates the physical quantities of the spacecraft's dynamic state based on the physical quantities output by the actuators and the physical quantities simulated by the environment. The physical quantities of the spacecraft's dynamic state are then transmitted to the sensor simulation module.

[0056] The sensor simulation module calculates the physical quantities to be measured by the sensor based on the physical quantities of the spacecraft's dynamic state and the physical quantities of the environment simulation, and then transmits the physical quantities measured by the sensor to the protocol layer.

[0057] The kernel layer configuration module reads configuration information from the host computer or configuration files and modifies the kernel layer module parameters of each module in real time. Generally, the kernel layer module parameters are related to the selected single-machine simulation calculation principle, but not to the specific single-machine product model. For example, the physical characteristic parameters of the star sensor kernel layer module include the "sunlight suppression angle," so this parameter needs to be set in the kernel layer parameter module.

[0058] A general modular dynamics simulation method includes the following steps:

[0059] (1) Based on the number and type of individual units installed on the spacecraft, including actuators and sensors, set the number and type of individual units on the spacecraft and write them into the kernel layer configuration module configuration file;

[0060] (2) Set the parameters of each stand-alone kernel layer module and write them into the kernel layer configuration module configuration file;

[0061] (3) Set the environment simulation parameters and write them into the kernel layer configuration module configuration file;

[0062] (4) Set the parameters of the selected stand-alone type and write them into the protocol layer configuration module configuration file; the protocol layer parameter configuration shall be set with reference to the communication protocol of each stand-alone unit and other design documents;

[0063] (5) Set the test equipment board number and type according to the test equipment manual and write it into the hardware layer configuration module configuration file;

[0064] (6) After setting the simulation time, run the dynamics simulation program. The running steps of the dynamics simulation program include:

[0065] The kernel layer configuration module reads configuration information from the kernel layer configuration module configuration file and modifies the kernel layer module parameters of each kernel layer module in real time.

[0066] The protocol layer configuration module reads configuration information from the protocol layer configuration module configuration file and modifies the protocol layer module parameters of each module in real time.

[0067] The hardware layer configuration module reads configuration information from the hardware layer configuration module configuration file and modifies the hardware layer module parameters of each hardware layer module in real time.

[0068] The actuator hardware board driver module reads the actuator signals from the spacecraft and transmits the reading results to the actuator interface module at the protocol layer;

[0069] The execution mechanism interface simulation module reads the execution mechanism semaphore from the hardware layer, decodes it according to the execution mechanism protocol, obtains the execution mechanism instruction, and transmits the execution mechanism instruction to the execution mechanism simulation module in the kernel layer;

[0070] The actuator simulation module receives actuator instructions from the protocol layer, calculates the instructions into actuator output physical quantities, and transmits them to the dynamics calculation module. The dynamics calculation module calculates the spacecraft dynamic state physical quantities based on the actuator output physical quantities and the environmental simulation physical quantities, and transmits the spacecraft dynamic state physical quantities to the sensor simulation module.

[0071] The environmental simulation module generates environmental simulation physical quantities, which are then transmitted to the dynamics calculation module and the sensor simulation module.

[0072] The sensor simulation module calculates the sensor measurement physical quantities based on the spacecraft dynamic state physical quantities and the environmental simulation physical quantities, and transmits the sensor measurement physical quantities to the sensor interface simulation module of the protocol layer;

[0073] The sensor interface simulation module reads the physical quantities measured by the sensor from the sensor simulation module in the kernel layer, packages them according to the sensor protocol, obtains the sensor output signal, and transmits the sensor output signal to the sensor hardware board driver module in the hardware layer.

[0074] The sensor hardware board driver module reads the sensor signal from the sensor interface simulation module of the protocol layer and outputs the real sensor signal through the corresponding hardware board.

[0075] A computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the general modular dynamics simulation method.

[0076] A general-purpose modular dynamics simulation device includes a memory, a processor, and a computer program stored in the memory that can run on the processor. When the processor executes the computer program, it implements the steps of the general-purpose modular dynamics simulation method.

[0077] Example 1:

[0078] Consider developing software for a satellite ground dynamics simulation system. This satellite includes 3 star sensors, 2 digital sun sensors, 6 gyroscopes, 2 solar panel drive mechanisms, 4 momentum wheels, and 16 thrusters. Configure the ground dynamics software to conduct ground tests according to the following steps:

[0079] 1) Set the number and type of individual units on the satellite, including 3 star sensors, 2 digital sun sensors, 6 gyroscopes, 4 momentum wheels, and 16 thrusters, and write the parameters into the kernel layer configuration module configuration file;

[0080] 2) Set the parameters of each unit's kernel layer module and write them into the kernel layer configuration module configuration file. This includes parameters such as the installation of each star sensor, sunlight suppression angle, maximum recognition angular velocity, installation of each digital sun sensor, field of view, installation of each gyroscope, drift, installation of each solar panel drive mechanism, installation of each momentum wheel, moment of inertia, and installation of each thruster, thrust magnitude, etc. The installation parameters of each unit should be set according to the actual installation position and orientation of the unit on the satellite, and the unit's own parameters should be set according to the unit's design file.

[0081] 3) Set environmental simulation parameters, such as gravitational field parameters, and write them into the kernel layer configuration module configuration file;

[0082] 4) Set the parameters for the selected stand-alone type and write them into the configuration file of the protocol layer configuration module, such as the number of stars extracted by the star sensor, the equivalent of the gyroscope pulse, and the maximum speed of the momentum wheel; the protocol layer parameter configuration shall be set with reference to the communication protocol of each stand-alone unit and other design documents.

[0083] 5) Set the test equipment board number, type and other parameters according to the test equipment manual, and write them into the hardware layer configuration module configuration file, such as setting the star sensor board number, channel number, baud rate check bit and other parameters;

[0084] 6) After setting the simulation time, the dynamics simulation program can be run.

[0085] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. A general-purpose modular dynamics simulation system, characterized in that, Including kernel layer, protocol layer, and hardware layer; The hardware layer includes the actuator hardware board driver module and the sensor hardware board driver module; The actuator hardware board driver module reads the actuator signals from the spacecraft and transmits the reading results to the actuator interface module at the protocol layer; The sensor hardware board driver module reads the sensor signal from the sensor interface simulation module of the protocol layer and outputs the real sensor signal through the corresponding hardware board. The protocol layer includes a sensor interface simulation module and an actuator interface simulation module; The execution mechanism interface simulation module reads the execution mechanism semaphore from the hardware layer, decodes it according to the execution mechanism protocol, obtains the execution mechanism instruction, and transmits the execution mechanism instruction to the execution mechanism simulation module in the kernel layer; The sensor interface simulation module reads the physical quantities measured by the sensor from the sensor simulation module in the kernel layer, packages them according to the sensor protocol, obtains the sensor signal, and transmits the sensor signal to the sensor hardware board driver module in the hardware layer. The kernel layer includes: a dynamics calculation module, an environment simulation module, a sensor simulation module, and an actuator simulation module; The actuator simulation module receives actuator instructions from the protocol layer, calculates the instructions into physical quantities output by the actuator, and transmits them to the dynamics calculation module. The environmental simulation module generates environmental simulation physical quantities and transmits these quantities to the dynamics calculation module and the sensor simulation module. The dynamics calculation module calculates the physical quantities of the spacecraft's dynamic state based on the physical quantities output by the actuators and the physical quantities of the simulated environment, and then transmits the physical quantities of the spacecraft's dynamic state to the sensor simulation module. The sensor simulation module calculates the sensor measurement physical quantities based on the spacecraft dynamic state physical quantities and the environmental simulation physical quantities, and then transmits the sensor measurement physical quantities to the sensor interface simulation module of the protocol layer.

2. The modular dynamics simulation system with universality according to claim 1, characterized in that, The hardware layer also includes a hardware layer configuration module. The hardware layer configuration module reads configuration information from the host computer or configuration file and modifies the hardware layer module parameters of each module in real time. The hardware layer module parameters are the parameters required by the hardware layer driver function, including board number, channel number, baud rate, and parity bit.

3. The modular dynamics simulation system with universality according to claim 1, characterized in that, The protocol layer also includes a protocol layer configuration module; the protocol layer configuration module reads configuration information from the host computer or configuration file and modifies the protocol layer module parameters of each module in real time.

4. The modular dynamics simulation system with universality according to claim 1, characterized in that, The kernel layer also includes a kernel layer configuration module; the kernel layer configuration module reads configuration information from the host computer or configuration file and modifies the kernel layer module parameters of each kernel layer module in real time; the kernel layer module parameters are related to the selected single-machine simulation computing principle.

5. A modular dynamics simulation method with universality, characterized in that, include: Based on the number and type of individual units installed on the spacecraft, which include actuators and sensors, the number and type of individual units on the spacecraft are set and written into the kernel layer configuration module configuration file; Set the parameters for each standalone kernel layer module and write them to the kernel layer configuration module configuration file; Set the environment simulation parameters and write them to the kernel layer configuration module configuration file; Set the parameters for the selected stand-alone type and write them into the protocol layer configuration module configuration file; the protocol layer parameter configuration should be set with reference to the communication protocols of each stand-alone unit and other design documents. Set the test equipment board number and type according to the test equipment manual, and write them into the hardware layer configuration module configuration file; After setting the simulation time, run the dynamics simulation program. The operation steps of the dynamic simulation program include: The kernel layer configuration module reads configuration information from the kernel layer configuration module configuration file and modifies the kernel layer module parameters of each kernel layer module in real time. The protocol layer configuration module reads configuration information from the protocol layer configuration module configuration file and modifies the protocol layer module parameters of each module in real time. The hardware layer configuration module reads configuration information from the hardware layer configuration module configuration file and modifies the hardware layer module parameters of each hardware layer module in real time. The actuator hardware board driver module reads the actuator signals from the spacecraft and transmits the reading results to the actuator interface module at the protocol layer; The execution mechanism interface simulation module reads the execution mechanism semaphore from the hardware layer, decodes it according to the execution mechanism protocol, obtains the execution mechanism instruction, and transmits the execution mechanism instruction to the execution mechanism simulation module in the kernel layer; The actuator simulation module receives actuator instructions from the protocol layer, calculates the instructions into actuator output physical quantities, and transmits them to the dynamics calculation module. The dynamics calculation module calculates the spacecraft dynamic state physical quantities based on the actuator output physical quantities and the environmental simulation physical quantities, and transmits the spacecraft dynamic state physical quantities to the sensor simulation module. The environmental simulation module generates environmental simulation physical quantities and transmits these quantities to the dynamics calculation module and the sensor simulation module. The sensor simulation module calculates the sensor measurement physical quantities based on the spacecraft dynamic state physical quantities and the environmental simulation physical quantities, and transmits the sensor measurement physical quantities to the sensor interface simulation module of the protocol layer; The sensor interface simulation module reads the physical quantities measured by the sensor from the sensor simulation module in the kernel layer, packages them according to the sensor protocol, obtains the sensor signal, and transmits the sensor signal to the sensor hardware board driver module in the hardware layer. The sensor hardware board driver module reads the sensor signal from the sensor interface simulation module of the protocol layer and outputs the real sensor signal through the corresponding hardware board.

6. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in claim 5.

7. A general-purpose modular dynamics simulation device, comprising a memory, a processor, and a computer program stored in the memory that can run on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in claim 5.

Images