Turntable time delay compensation system and method based on semi-physical simulation closed test platform

Abstract

The application provides a turntable time delay compensation system and method based on a semi-physical simulation closed test platform, which comprises a detection and guidance device, a missile-borne computing device, a semi-physical test system and an angle measurement compensation module; the detection and guidance device observes and tracks a radio frequency target and outputs target angle measurement information; the semi-physical test system constitutes a semi-physical simulation closed test platform and generates turntable data; the angle measurement compensation module compensates the angle error of the target angle measurement information according to the turntable data; and the missile-borne computing device receives and processes the compensated target angle measurement information. The application extracts the target angle measurement information of the detection and guidance device, combines the angle error introduced by the response time lag of the three-axis turntable, realizes effective compensation of the system error of the target angle measurement information, improves the reliability and fidelity of the simulation system, and improves the data confidence of the semi-physical simulation test results.

Description

Technical Field

[0001] The present invention relates to the technical field of semi-physical simulation, and in particular to a turntable time lag compensation system and method based on a semi-physical simulation closed test platform. Background Art

[0002] Hardware-in-the-loop simulation technology is essential for improving the design reliability and development quality of advanced weapon systems. With the increasing complexity of electromagnetic combat environments, a closed-loop hardware-in-the-loop simulation test platform, centered around a three-axis turntable and a radio frequency target simulator, is needed to verify the performance of detection and guidance equipment. To address the deterioration of performance indicators caused by the lag in the three-axis turntable's response time, a turntable time-lag compensation method based on a closed-loop hardware-in-the-loop simulation test platform is needed to account for the systematic errors introduced by the lag and improve the confidence level of hardware-in-the-loop simulation data.

[0003] Chinese invention patent publication number CN114111837A discloses a turntable time-lag compensation system and method based on a semi-physical simulation closed test platform. This belongs to the field of semi-physical simulation and involves aspects such as coordinate system conversion, a semi-physical simulation system with a turntable, and compensation of target angle measurement information.

[0004] First, the target angle measurement information is obtained through the angle measurement unpacking processing unit and coordinate conversion is performed; then the three-axis turntable attitude control instructions and attitude execution feedback are read, and the angle error introduced by the response time lag of the three-axis turntable is calculated from them; then the target angle measurement information is compensated based on the angle error in the missile body coordinate system; finally, the compensated target angle measurement information is subjected to coordinate conversion, and after being packaged into 422 serial port data, it is sent to the on-board computing device.

[0005] In view of the above-mentioned existing technologies, the inventors believe that the current way to reduce the response time lag of the three-axis turntable for test assessment indicators is to purchase a three-axis turntable with better dynamic performance indicators, or to redesign the three-axis turntable controller. However, there are problems such as long procurement, design, and debugging cycles, cumbersome operations, and serious delays in product development progress. It is impossible to effectively guarantee the credibility and realism of the simulation system, and reduces the confidence of the simulation data. Summary of the Invention

[0006] In view of the defects in the prior art, the purpose of the present invention is to provide a turntable time lag compensation system and method based on a semi-physical simulation closed test platform.

[0007] According to the present invention, a turntable time-lag compensation system based on a semi-physical simulation closed test platform includes a detection and guidance device, an on-board computing device, a semi-physical test system, and an angle measurement compensation module;

[0008] The detection and guidance equipment observes and tracks radio frequency targets and outputs target angle measurement information;

[0009] The semi-physical test system constitutes a semi-physical simulation closed test platform to generate turntable data;

[0010] The angle measurement compensation module compensates for the angle error of the target angle measurement information according to the turntable data;

[0011] The on-board computing device receives and processes the compensated target angle measurement information.

[0012] Preferably, the angle measurement compensation module includes an angle measurement unpacking processing unit, a turntable data reading unit, a time lag error unit, an angle measurement compensation unit and an angle measurement package output unit;

[0013] The angle measurement unpacking processing unit receives the serial data packet sent by the detection and guidance equipment, parses and extracts the target angle measurement information, and completes the coordinate conversion from the execution coordinate system to the projectile coordinate system;

[0014] The turntable data reading unit reads the turntable's posture control instructions and posture execution feedback in the current simulation cycle in the semi-physical simulation system;

[0015] The time lag error unit calculates the angle error in the missile body coordinate system introduced by the turntable response time lag according to the attitude control command and the attitude execution feedback;

[0016] The angle measurement compensation unit compensates for the angle error in the target angle measurement information;

[0017] The angle measurement package output unit performs coordinate conversion from the missile body coordinate system to the execution coordinate system on the compensated target angle measurement information, packages the serial port data, and sends it to the on-board computing device.

[0018] According to the present invention, a turntable time lag compensation method based on a semi-physical simulation closed test platform is provided, and a turntable time lag compensation system based on the semi-physical simulation closed test platform is applied, comprising the following steps:

[0019] Target angle measurement information extraction step: extract target angle measurement information and perform coordinate conversion;

[0020] Turntable data reading steps: read the turntable's attitude control instructions and attitude execution feedback;

[0021] Angle error calculation steps: Calculate the angle error introduced by the turntable response time lag based on the attitude control command and attitude execution feedback;

[0022] Target angle measurement information compensation step: compensating the target angle measurement information based on the angle error;

[0023] Steps for sending target angle measurement information: perform coordinate conversion on the compensated target angle measurement information, package it and send it to the on-board computing device.

[0024] Preferably, the target angle measurement information extraction step includes the following steps:

[0025] Step 1.1: During the simulation cycle, the angle measurement and unpacking processing unit receives the serial data packet sent by the detection and guidance equipment;

[0026] Step 1.2: Parse the serial data packet and extract the target angle measurement information in the execution coordinate system;

[0027] Step 1.3: Perform coordinate transformation on the target angle measurement information in the execution coordinate system to obtain the target angle measurement information in the projectile coordinate system.

[0028] Preferably, the target angle measurement information in the execution coordinate system includes m_es1a and m_bs1a; wherein, m_es1a is the target sight line elevation angle in the execution coordinate system; and m_bs1a is the target sight line azimuth in the execution coordinate system.

[0029] Preferably, in the target angle measurement information extraction step, the calculation formula for coordinate transformation from the execution coordinate system to the projectile coordinate system is:

[0030]

[0031] Among them, n 1a To calculate the unit vector of target angle information in the coordinate system, the calculation formula is:

[0032] n 1a =[cos(m_es1a)cos(m_bs1a) sin(m_es1a) -cos(m_es1a)sin(m_bs1a)] Τ

[0033] Where n1 is n 1a Convert the target angle measurement information unit vector to the missile body coordinate system, and set n1 = [n1x n1y n1z] Τ , n1x represents the x-axis coordinate value of the target angle measurement information unit vector in the projectile coordinate system; n1y represents the y-axis coordinate value of the target angle measurement information unit vector in the projectile coordinate system; n1z represents the z-axis coordinate value of the target angle measurement information unit vector in the projectile coordinate system; T represents matrix transpose; the calculation formulas for the target angle measurement information m_es1 and m_bs1 in the projectile coordinate system are:

[0034] m_es1=arcsin(n1y)

[0035] m_bs1 = -arctan(n1z / n1x);

[0036] Among them, m_es1 is the target line of sight elevation angle in the missile body coordinate system; m_bs1 is the target line of sight azimuth in the missile body coordinate system.

[0037] Preferably, the turntable data reading step includes the following steps: within the same simulation cycle, the turntable data reading unit reads the turntable posture control instructions and posture execution feedback;

[0038] The attitude control instructions are used to drive the turntable to perform angular position servo tracking, which are the pitch angle θ, the yaw angle ψ and the roll angle γ in sequence;

[0039] The attitude execution feedback is used to feedback the attitude angle of each axis of the turntable at the current moment, which is the pitch feedback angle θ b , yaw feedback angle ψ b and the rolling feedback angle γ b .

[0040] Preferably, the angle error calculation step includes the following steps:

[0041] Step 3.1: In the same simulation cycle, based on the attitude control command, calculate the unit vector n defined in the geographic coordinate system unit , the vector representation n in the projectile coordinate system ideal ;

[0042] Step 3.2: Based on the attitude feedback command, calculate the unit vector n defined in the geographic coordinate system unit , the vector representation n in the projectile coordinate system actual ;

[0043] Step 3.3: Based on n in step 3.1 ideal and n in step 3.2 actual , calculate the angular errors Δes and Δbs introduced by the turntable response time lag; where Δes is the elevation angle error; Δbs represents the azimuth angle error.

[0044] Preferably, in the target angle measurement information compensation step,

[0045] In the same simulation cycle, the target angle measurement information m_es1 and m_bs1 in the projectile coordinate system are compensated according to the angle errors Δes and Δbs in the projectile coordinate system, and the compensated target angle measurement information c_es1 and c_bs1 in the projectile coordinate system are obtained;

[0046] Among them, c_es1 is the target elevation angle after compensation in the elastic coordinate system, and c_bs1 is the target azimuth angle after compensation in the elastic coordinate system. The calculation formula is:

[0047] c_es1=m_es1-Δes

[0048] c_bs1=m_bs1-Δbs.

[0049] Preferably, the target angle measurement information sending step includes the following steps:

[0050] Step 5.1: During the simulation cycle, coordinate conversion is performed on the compensated target angle information c_es1 and c_bs1 in the missile body coordinate system to obtain the compensated target angle information c_es1a and c_bs1a in the execution coordinate system. Among them, c_es1a represents the target elevation angle after compensation in the execution coordinate system; c_bs1a represents the target azimuth after compensation in the execution coordinate system.

[0051] Step 5.2: Replace the original target angle measurement information m_es1a and m_bs1a with the target angle measurement information c_es1a and c_bs1a in the execution coordinate system, and then repackage it with the data in the serial port data packet;

[0052] Step 5.3: The angle measurement package output unit sends the repackaged data packet to the onboard computing device.

[0053] Compared with the prior art, the present invention has the following beneficial effects:

[0054] 1. The present invention extracts target angle measurement information from the detection and guidance equipment and combines it with the angle error introduced by the response time lag of the three-axis turntable to effectively compensate for the target angle measurement information system error, thereby improving the credibility and fidelity of the simulation system and the confidence level of the semi-physical simulation test results.

[0055] 2. Based on the existing simulation system, the present invention quantifies the angle error introduced by the response time lag of the three-axis turntable through coordinate transformation, effectively compensates for the target angle measurement information, improves the efficiency of simulation system upgrades, and solves the shortcomings of existing technologies such as complex engineering implementation, long construction period, and inability to take into account simulation tests;

[0056] 3. The present invention is implemented by developing software based on an industrial control computer. During the simulation test, the angle measurement compensation program is run to effectively compensate for the target angle measurement information, and the invention is easy to operate and use. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0058] Figure 1 It is a block diagram of the system principle of the present invention;

[0059] Figure 2 It is a schematic diagram of the composition of the hardware-in-the-loop simulation system of the present invention;

[0060] Figure 3 Schematic diagram of system connection of the present invention. DETAILED DESCRIPTION

[0061] The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those skilled in the art, several changes and improvements can be made without departing from the scope of the present invention. These all fall within the scope of protection of the present invention.

[0062] The embodiment of the present invention discloses a turntable time delay compensation system based on a semi-physical simulation closed test platform, such as Figure 1 and Figure 2 As shown, it includes detection and guidance equipment, on-board computing equipment, semi-physical test system and angle measurement compensation module.

[0063] The detection and guidance equipment is fixed to the inner frame of the three-axis turntable and is used to observe and track radio frequency targets and output target motion angle measurement information. In other words, the detection and guidance equipment is installed on the inner frame of the three-axis turntable and is used to receive radio frequency target electromagnetic wave signals, observe and track targets, output target motion angle measurement information, and guide the missile body to the target.

[0064] The hardware-in-the-loop (HIL) test system is used to form a closed-loop test platform for HIL simulation, simulating the relative motion between the missile and the target in real time and generating turntable data. The HIL simulation system includes a turntable host computer, a three-axis turntable, a main control computer, a model computer, an interface computer, hardware equipment, a target control computer, a radio frequency target simulator, and a reflective memory network.

[0065] The angle measurement compensation module eliminates the angular measurement errors of moving targets caused by the response time lag of a three-axis turntable. This module compensates for angular errors in the target's angle measurement information based on the turntable data. The module includes an angle measurement unpacking unit, a turntable data reading unit, a time lag error unit, an angle measurement compensation unit, and an angle measurement packet output unit.

[0066] The onboard computing device receives target angle information and controls the missile in real time for stable flight. Specifically, the onboard computing device receives target angle information output by the detection and guidance equipment, calculates and processes it in real time to generate control instructions, and controls the missile in stable flight.

[0067] The turntable host computer is used to interact with the three-axis turntable and obtain turntable execution status feedback information from the turntable data area of ​​the reflective memory network.

[0068] The three-axis turntable is used to simulate the various postures of the projectile when it is actually flying in the air, and can automatically, continuously and accurately reproduce the posture control instructions.

[0069] The main control computer is used to control the semi-physical simulation test process, which includes online inspection, system configuration, trajectory parameter download, launch control, real-time simulation, simulation end and abnormal interruption.

[0070] The model computer is used to calculate the projectile motion information and target motion information in real time based on preset simulation initial values. This information generates three-axis turntable control instructions and RF target simulator control instructions, which are then sent to the turntable data area and target data area in the reflective memory network, respectively. Projectile motion information, target motion information, three-axis turntable control instructions, and RF target simulator control instructions are locally calculated by the model computer and sent to the corresponding address areas in the reflective memory network. The three-axis turntable control instructions are calculated based on the projectile motion information and used to drive the three-axis turntable; the target motion information is used to generate target simulator control instructions, which are used to drive the RF target simulator.

[0071] The interface computer is used for system timing, and the simulation cycle is set to 2.5ms. Within one simulation cycle, data information interaction with the hardware device is completed.

[0072] Hardware equipment includes detection and guidance equipment and on-board computing equipment.

[0073] The target control machine is used to interact with the RF target simulator, read the RF target simulator control instructions from the target data area of ​​the reflective memory network, and drive the RF target simulator to realize the simulation of the RF target.

[0074] The RF target simulator is used to simulate the electromagnetic characteristics of the RF target and provide an environment for the detection and guidance equipment to obtain the target angle measurement information m_es1a and m_bs1a in the execution coordinate system.

[0075] The reflective memory network is used to connect the computer nodes of the simulation system to respond to system interrupts and share simulation data.

[0076] The angle measurement unpacking processing unit is used to receive the 422 serial port data packet sent by the detection and guidance equipment, parse and extract the target angle measurement information, and complete the coordinate conversion from the execution coordinate system to the projectile coordinate system.

[0077] The turntable data reading unit is used to read the three-axis turntable posture control instructions and posture execution feedback in the current simulation cycle.

[0078] The time lag error unit is used to calculate the angular error in the projectile coordinate system caused by the response time lag of the three-axis turntable.

[0079] The angle measurement compensation unit is used to compensate for the angle error in the target angle measurement information.

[0080] The angle measurement package output unit is used to convert the compensated target angle measurement information into the execution coordinate system, and to package the 422 serial port data and send it to the onboard computer equipment.

[0081] like Figure 3 As shown, in the semi-physical simulation system, the RF target simulator simulates the electromagnetic characteristics of the RF target by radiating RF signals; the detection and guidance equipment observes and tracks the RF target and outputs the target motion angle measurement information m_es1a and m_bs1a, which are the original angle measurement data; the angle measurement compensation module first obtains the turntable attitude control instructions and turntable attitude execution feedback in the turntable data area and the target data area of ​​the reflective memory network, which are the turntable drive or feedback data, and then compensates the original angle measurement data through the compensation method described in the present invention; the on-board computing device receives the compensated angle measurement data, and receives the control instructions and measurement data through the interface computer, and forms the control instructions through real-time calculation and processing, which are fed back to the detection and guidance equipment to control the missile body to fly stably.

[0082] The embodiment of the present invention further discloses a turntable time lag compensation method based on a semi-physical simulation closed test platform, comprising the following steps:

[0083] Step 1 (target angle measurement information extraction step): extract the target angle measurement information and perform coordinate conversion.

[0084] Specifically, step 1 is the real-time simulation stage, including:

[0085] Step 1.1: In one simulation cycle, the angle measurement unpacking processing unit receives the 422 serial port data packet sent by the detection and guidance equipment.

[0086] Step 1.2: Parse the 422 serial port data packet and extract the target angle measurement information m_es1a and m_bs1a in the execution coordinate system.

[0087] Step 1.3: Perform coordinate conversion on the target angle information m_es1a and m_bs1a in the execution coordinate system to obtain the target angle information m_es1 and m_bs1 in the projectile coordinate system. The target angle information m_es1a is the target line of sight elevation angle in the execution coordinate system, in degrees. The target angle information m_bs1a is the target line of sight azimuth angle in the execution coordinate system, in degrees.

[0088] The projectile coordinate system takes the center of mass of the projectile as the coordinate origin O, the longitudinal axis of the projectile pointing to the direction of the projectile is the positive direction of the OX1 axis, the plane located on the longitudinal axis of the projectile is perpendicular to the OX1 axis and points upwards is the positive direction of the OY1 axis, and the OZ1 axis satisfies the right-hand rule.

[0089] The execution coordinate system is formed by rotating the missile body coordinate system OX1Y1Z1 counterclockwise by 45° around the longitudinal axis (looking forward along the tail of the missile body).

[0090] The calculation formula for coordinate transformation from the execution coordinate system to the projectile coordinate system is:

[0091]

[0092] Among them, n 1a To calculate the unit vector of target angle information in the coordinate system, the calculation formula is:

[0093] n 1a =[cos(m_es1a)cos(m_bs1a) sin(m_es1a) -cos(m_es1a)sin(m_bs1a)] Τ .

[0094] Where n1 is n 1a Convert the target angle measurement information unit vector to the missile body coordinate system, and set n1 = [n1x n1y n1z] Τ , n1x represents the x-axis coordinate value of the target angle measurement information unit vector in the projectile coordinate system; n1y represents the y-axis coordinate value of the target angle measurement information unit vector in the projectile coordinate system; n1z represents the z-axis coordinate value of the target angle measurement information unit vector in the projectile coordinate system; T represents matrix transpose; the calculation formulas for the target angle measurement information m_es1 and m_bs1 in the projectile coordinate system are:

[0095] m_es1 = arcsin(n1y);

[0096] m_bs1 = -arctan(n1z / n1x).

[0097] Among them, m_es1 is the target line of sight elevation angle in the missile body coordinate system; m_bs1 is the target line of sight azimuth in the missile body coordinate system.

[0098] Step 2 (turntable data reading step): read the three-axis turntable attitude control instructions and attitude execution feedback.

[0099] Step 2: Real-time simulation phase, including:

[0100] In the same simulation cycle, the turntable data reading unit reads the three-axis turntable attitude control instructions and attitude execution feedback from the turntable area address area in the reflective memory network.

[0101] The attitude control instruction is used to drive the three-axis turntable to perform angular position servo tracking, which are the pitch angle θ, yaw angle ψ, and roll angle γ.

[0102] Attitude execution feedback is used to feedback the attitude angle of each axis of the three-axis turntable at the current moment, which is the pitch feedback angle θ b , yaw feedback angle ψ b , rolling feedback angle γ b.

[0103] Step 3 (angle error calculation step): Calculate the angle error introduced by the response time lag of the three-axis turntable.

[0104] Step 3 is the real-time simulation phase, which includes:

[0105] Step 3.1: In the same simulation cycle, based on the three-axis turntable attitude control command in step 2, calculate the unit vector n defined in the geographic coordinate system unit , the vector representation n in the projectile coordinate system ideal .

[0106] Step 3.2: Based on the three-axis turntable attitude feedback command in step 2, calculate the unit vector n defined in the geographic coordinate system unit , the vector representation n in the projectile coordinate system actual .

[0107] Step 3.3: Based on n in step 3.1 ideal and n in step 3.2 actual , calculate the angular errors Δes and Δbs introduced by the response time lag of the three-axis turntable.

[0108] The geographic coordinate system takes the center of mass of the projectile as the coordinate origin O. The positive direction of the OX axis is in the horizontal plane and points to the north, and the positive direction of the OY axis is perpendicular to the ground and points upward. The OZ axis satisfies the right-hand rule.

[0109] The unit vector n defined in the geographic coordinate system unit is [1 0 0] Τ .

[0110] n ideal is the unit vector n unit When the three-axis turntable is at a pitch angle θ, a yaw angle ψ, and a roll angle γ, the coordinates are converted to vector representation in the missile body coordinate system.

[0111] Among them, n ideal =[n i xn i yn i z] Τ , n i x represents the x-axis coordinate value of the unit vector in the missile body coordinate system based on the three-axis turntable attitude control instruction; n i y represents the y-axis coordinate value of the unit vector in the missile coordinate system based on the three-axis turntable attitude control instruction, n i z represents the z-axis coordinate value of the unit vector in the missile body coordinate system based on the three-axis turntable attitude control instruction; the calculation formula is:

[0112]

[0113] n actual is the unit vector n unit The three-axis turntable is at a pitch angle θ b , yaw angle ψ b , rolling angle γ b In this state, the coordinates are converted to vector representation in the projectile coordinate system.

[0114] Among them, n actual =[n a xn a yn a z] Τ , n a x represents the x-axis coordinate value of the unit vector in the missile body coordinate system based on the three-axis turntable attitude feedback instruction; n a y represents the y-axis coordinate value of the unit vector in the missile coordinate system based on the three-axis turntable attitude feedback instruction, n a z represents the z-axis coordinate value of the unit vector in the missile body coordinate system based on the three-axis turntable attitude feedback instruction; the calculation formula is:

[0115]

[0116] The angle error Δes is the high and low angle error, and the calculation formula is:

[0117] Δes=arcsin(n a y)-arcsin(n i y).

[0118] The angle error Δbs is the azimuth angle error, and the calculation formula is:

[0119] Δbs=arctan(n i z / n i x)-arctan(n a z / n a x).

[0120] Step 4 (target angle measurement information compensation step): compensate the target angle measurement information based on the angle error in the projectile coordinate system.

[0121] Step 4 is the real-time simulation phase, which includes:

[0122] In the same simulation cycle, the target angle measurement information m_es1 and m_bs1 in the projectile coordinate system obtained in step 1 is compensated according to the angle errors Δes and Δbs in the projectile coordinate system obtained in step 3 to obtain the compensated target angle measurement information c_es1 and c_bs1.

[0123] Among them, c_es1 is the target elevation angle after compensation in the missile body coordinate system, and c_bs1 is the target azimuth angle after compensation in the missile body coordinate system. The calculation formula is:

[0124] c_es1=m_es1-Δes;

[0125] c_bs1=m_bs1-Δbs.

[0126] Step 5 (target angle measurement information sending step): coordinate conversion is performed on the compensated target angle measurement information, and after packaging the 422 serial port data, it is sent to the on-board computing device.

[0127] Step 5 is the real-time simulation phase, which includes:

[0128] Step 5.1: Within one simulation cycle, perform coordinate conversion on the compensated target angle measurement information c_es1 and c_bs1 in the missile body coordinate system obtained in step 4 to obtain the target angle measurement information c_es1a and c_bs1a in the execution coordinate system; where c_es1a represents the target elevation angle after compensation in the execution coordinate system; and c_bs1a represents the target azimuth angle after compensation in the execution coordinate system.

[0129] Step 5.2: Replace the original target angle measurement information m_es1a, m_bs1a in step 1 with the target angle measurement information c_es1a, c_bs1a in the execution coordinate system, and then repackage it with the other data in the 422 serial port data packet in step 1.

[0130] Step 5.3: The angle measurement package output unit sends the repackaged 422 data packets to the onboard computing device.

[0131] The calculation formula for transforming from the projectile coordinate system to the execution coordinate system is:

[0132]

[0133] Among them, m1 is the unit vector of target angle measurement information in the missile body coordinate system, and the calculation formula is:

[0134] m1=[cos(c_es1a)cos(c_bs1a) sin(c_es1a) -cos(c_es1a)sin(c_bs1a)] Τ .

[0135] Among them, m 1a Convert m1 to the unit vector in the execution coordinate system, let m 1a =[m 1a xm 1a ym 1a z] Τ , m 1ax represents the x-axis coordinate value of the target angle measurement information unit vector in the execution coordinate system; m 1a y represents the y-axis coordinate value of the target angle measurement information unit vector in the execution coordinate system; m 1a z represents the z-axis coordinate value of the unit vector of the target angle measurement information in the execution coordinate system; the calculation formula of the target angle measurement information c_es1 and c_bs1 in the execution coordinate system is:

[0136] c_es1=arcsin(m 1a y)

[0137] c_bs1=-arctan(m 1a z / m 1a x).

[0138] The present invention also discloses a turntable time lag compensation method for a hardware-in-the-loop closed test platform, which can improve the reliability and fidelity of the simulation system and the confidence level of the hardware-in-the-loop simulation test results. This method is specifically implemented by the following steps:

[0139] Step 1: Extract the target angle measurement information m_es1a, m_bs1a in the execution coordinate system and convert the coordinates to the projectile coordinate system.

[0140] Specifically: the corresponding stage of step one is the real-time simulation stage, and the target angle measurement information m_es1a and m_bs1a in the execution coordinate system are the target sight elevation angle and azimuth angle; the execution coordinate system is formed by rotating the projectile coordinate system OX1Y1Z1 counterclockwise 45° around the longitudinal axis (looking forward along the tail of the projectile); the projectile coordinate system takes the center of mass of the projectile as the coordinate origin O, the longitudinal axis of the projectile pointing to the direction of the warhead is the positive direction of the OX1 axis, the plane located on the longitudinal axis of the projectile is perpendicular to the OX1 axis and points upwards is the positive direction of the OY1 axis, and the OZ1 axis satisfies the right-hand rule.

[0141] Step 2: Read the three-axis turntable attitude control instructions and attitude execution feedback.

[0142] Specifically: Step 2 corresponds to the real-time simulation stage. During a simulation cycle, the turntable data reading unit reads the three-axis turntable attitude control instructions and attitude execution feedback from the turntable address area in the reflective memory network; the attitude control instructions are used to drive the three-axis turntable to perform angular position servo tracking attitude angles, which are pitch angle θ, yaw angle ψ, and roll angle γ, respectively; the attitude execution feedback is used to feedback the attitude angles of each axis of the three-axis turntable at the current moment, which are pitch feedback angle θ, respectively. b , yaw feedback angle ψ b , rolling feedback angle γ b .

[0143] Step 3: Calculate the angular error introduced by the response time lag of the three-axis turntable.

[0144] Specifically: Step 3 corresponds to the real-time simulation stage. In the same simulation cycle, based on the three-axis turntable attitude control instructions in step 2, the unit vector n defined in the geographic coordinate system is calculated. unit , the vector representation n in the projectile coordinate system ideal ; Based on the three-axis turntable attitude feedback instruction in step 2, calculate the unit vector n defined in the geographic coordinate system unit , the vector representation n in the projectile coordinate system actual ; Based on n ideal and n actual Calculate the angular errors Δes and Δbs introduced by the response time lag of the three-axis turntable.

[0145] Step 4: Compensate the target angle measurement information of step 1 based on the angle error in the projectile coordinate system of step 3.

[0146] Specifically: The corresponding stage of step 4 is the real-time simulation stage. In the same simulation cycle, according to the angle errors Δes and Δbs in the missile coordinate system obtained in step 3, the target angle measurement information m_es1 and m_bs1 in the missile coordinate system obtained in step 1 are compensated according to formula (1) to obtain the compensated target angle measurement information c_es1 and c_bs1; c_es1 and c_bs1 are the compensated target elevation angle and azimuth angle.

[0147] c_es1=m_es1-Δes

[0148] c_bs1=m_bs1-Δbs (1).

[0149] Step 5: Use the target angle measurement information compensated in step 4 to package the data into 422 serial port data and send it to the onboard computing device.

[0150] Specifically: The corresponding stage of step five is the real-time simulation stage. Within the same simulation cycle, the compensated target angle measurement information c_es1, c_bs1 in the missile body coordinate system obtained in step four is converted to obtain the target angle measurement information c_es1a, c_bs1a in the execution coordinate system; the target angle measurement information m_es1a, m_bs1a in step one is replaced, and then repackaged with other data in the 422 serial port data packet and sent to the on-board computing device.

[0151] The present invention relates to a turntable time lag compensation system, method, and medium based on a hardware-in-the-loop closed-loop test platform. The system comprises the following steps: Step 1: extracting target angle measurement information and performing coordinate conversion; Step 2: reading attitude control instructions and attitude execution feedback from a three-axis turntable; Step 3: calculating the angular error introduced by the three-axis turntable's response time lag; Step 4: compensating the target angle measurement information based on the angular error in the missile body coordinate system; and Step 5: performing coordinate conversion on the compensated target angle measurement information, packaging it into 422 serial port data, and sending it to an onboard computing device. Based on a hardware-in-the-loop closed-loop test platform, the present invention extracts target angle measurement information from a detection and guidance device, combines it with the angular error introduced by the three-axis turntable's response time lag, compensates for the target angle measurement information, and then packages and sends it. This reduces the error of the hardware-in-the-loop simulation system and improves the confidence of the test data.

[0152] In the description of this application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply 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 this application.

[0153] The above describes specific embodiments of the present invention. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. The embodiments of this application and the features in the embodiments may be combined with each other in any manner unless there is a conflict.

Claims

1. A turntable time delay compensation system based on a semi-physical simulation closed test platform, characterized in that: It includes detection and guidance equipment, on-board computing equipment, hardware-in-the-loop test system and angle measurement compensation module; The detection and guidance equipment observes and tracks radio frequency targets and outputs target angle measurement information; The semi-physical test system constitutes a semi-physical simulation closed test platform to generate turntable data; The angle measurement compensation module compensates for the angle error of the target angle measurement information according to the turntable data; The on-board computing device receives and processes the compensated target angle measurement information; By means of coordinate transformation, the angle error introduced by the response time lag of the three-axis turntable is quantified to compensate the target angle measurement information; The geographic coordinate system takes the center of mass of the projectile as the coordinate origin O. The positive direction of the OX axis is in the horizontal plane and points to the north, and the positive direction of the OY axis is perpendicular to the ground and points upward. The OZ axis satisfies the right-hand rule. The unit vector n defined in the geographic coordinate system unit is [1 0 0] Τ ; n ideal is the unit vector n unit When the three-axis turntable is at a pitch angle θ, a yaw angle ψ, and a roll angle γ, the coordinates are converted to vector representation in the missile body coordinate system; Among them, n ideal =[n i xn i yn i z] Τ , n i x represents the x-axis coordinate value of the unit vector in the missile body coordinate system based on the three-axis turntable attitude control instruction; n i y represents the y-axis coordinate value of the unit vector in the missile coordinate system based on the three-axis turntable attitude control instruction, n i z represents the z-axis coordinate value of the unit vector in the missile body coordinate system based on the three-axis turntable attitude control instruction; the calculation formula is: n actual is the unit vector n unit The three-axis turntable is at a pitch angle θ b , yaw angle ψ b , rolling angle γ b In this state, the coordinates are converted to vector representation in the projectile coordinate system; Among them, n actual =[n a xn a yn a z] Τ , n a x represents the x-axis coordinate value of the unit vector in the missile body coordinate system based on the three-axis turntable attitude feedback instruction; n a y represents the y-axis coordinate value of the unit vector in the missile coordinate system based on the three-axis turntable attitude feedback instruction, n a z represents the z-axis coordinate value of the unit vector in the missile body coordinate system based on the three-axis turntable attitude feedback instruction; the calculation formula is: The angle error Δes is the high and low angle error, and the calculation formula is: Δes=arcsin(n a y)-arcsin(n i y) The angle error Δbs is the azimuth angle error, and the calculation formula is: Δbs=arctan(n i z / n i x)-arctan( n a z / n a x)。 2. The turntable time delay compensation system based on the semi-physical simulation closed test platform according to claim 1 is characterized in that: The angle measurement compensation module includes an angle measurement unpacking processing unit, a turntable data reading unit, a time lag error unit, an angle measurement compensation unit and an angle measurement package output unit; The angle measurement unpacking processing unit receives the serial data packet sent by the detection and guidance equipment, parses and extracts the target angle measurement information, and completes the coordinate conversion from the execution coordinate system to the projectile coordinate system; The turntable data reading unit reads the turntable's posture control instructions and posture execution feedback in the current simulation cycle in the semi-physical simulation system; The time lag error unit calculates the angle error in the missile body coordinate system introduced by the turntable response time lag according to the attitude control command and the attitude execution feedback; The angle measurement compensation unit compensates for the angle error in the target angle measurement information; The angle measurement package output unit performs coordinate conversion from the missile body coordinate system to the execution coordinate system on the compensated target angle measurement information, packages the serial port data, and sends it to the on-board computing device.

3. A turntable time lag compensation method based on a semi-physical simulation closed test platform, characterized in that: The turntable time lag compensation system based on the semi-physical simulation closed test platform according to claim 1 or 2 comprises the following steps: Target angle measurement information extraction step: extract target angle measurement information and perform coordinate conversion; Turntable data reading steps: read the turntable's attitude control instructions and attitude execution feedback; Angle error calculation steps: Calculate the angle error introduced by the turntable response time lag based on the attitude control command and attitude execution feedback; Target angle measurement information compensation step: compensating the target angle measurement information based on the angle error; Steps for sending target angle measurement information: perform coordinate conversion on the compensated target angle measurement information, package it and send it to the on-board computing device.

4. The turntable time lag compensation method based on a hardware-in-the-loop simulation closed test platform according to claim 3 is characterized in that: The target angle measurement information extraction step comprises the following steps: Step 1.1: During the simulation cycle, the angle measurement and unpacking processing unit receives the serial data packet sent by the detection and guidance equipment; Step 1.2: Parse the serial data packet and extract the target angle measurement information in the execution coordinate system; Step 1.3: Perform coordinate transformation on the target angle measurement information in the execution coordinate system to obtain the target angle measurement information in the projectile coordinate system.

5. The turntable time lag compensation method based on a hardware-in-the-loop simulation closed test platform according to claim 4 is characterized in that: The target angle measurement information in the execution coordinate system includes m_es1a and m_bs1a; among them, m_es1a is the target sight elevation angle in the execution coordinate system; m_bs1a is the target sight azimuth in the execution coordinate system.

6. The turntable time lag compensation method based on a hardware-in-the-loop simulation closed test platform according to claim 5 is characterized in that: In the target angle measurement information extraction step, the calculation formula for coordinate transformation from the execution coordinate system to the projectile coordinate system is: Among them, n 1a To calculate the unit vector of target angle information in the coordinate system, the calculation formula is: n 1a =[cos(m_es1a)cos(m_bs1a)sin(m_es1a)-cos(m_es1a)sin(m_bs1a)] Τ Where n1 is n 1a Convert the target angle measurement information unit vector to the missile body coordinate system, and set n1 = [n1x n1y n1z] Τ , n1x represents the x-axis coordinate value of the target angle measurement information unit vector in the projectile coordinate system; n1y represents the y-axis coordinate value of the target angle measurement information unit vector in the projectile coordinate system; n1z represents the z-axis coordinate value of the target angle measurement information unit vector in the projectile coordinate system; T represents matrix transpose; the calculation formulas for the target angle measurement information m_es1 and m_bs1 in the projectile coordinate system are: m_es1=arcsin(n1y) m_bs1 = -arctan(n1z / n1x); Among them, m_es1 is the target line of sight elevation angle in the missile body coordinate system; m_bs1 is the target line of sight azimuth in the missile body coordinate system.

7. The turntable time lag compensation method based on a hardware-in-the-loop simulation closed test platform according to claim 3 is characterized in that: The turntable data reading step includes the following steps: within the same simulation cycle, the turntable data reading unit reads the turntable posture control instructions and posture execution feedback; The attitude control instructions are used to drive the turntable to perform angular position servo tracking, which are the pitch angle θ, the yaw angle ψ and the roll angle γ in sequence; The attitude execution feedback is used to feedback the attitude angle of each axis of the turntable at the current moment, which is the pitch feedback angle θ b , yaw feedback angle ψ b and the rolling feedback angle γ b .

8. The turntable time lag compensation method based on a hardware-in-the-loop simulation closed test platform according to claim 3 is characterized in that: The angle error calculation step comprises the following steps: Step 3.1: In the same simulation cycle, based on the attitude control command, calculate the unit vector n defined in the geographic coordinate system unit , the vector representation n in the projectile coordinate system ideal ; Step 3.2: Based on the attitude feedback command, calculate the unit vector n defined in the geographic coordinate system unit , the vector representation n in the projectile coordinate system actual ; Step 3.3: Based on n in step 3.1 ideal and n in step 3.2 actual , calculate the angular errors Δes and Δbs introduced by the turntable response time lag; where Δes is the elevation angle error; Δbs represents the azimuth angle error.

9. The turntable time lag compensation method based on a hardware-in-the-loop simulation closed test platform according to claim 8, characterized in that: In the target angle measurement information compensation step, In the same simulation cycle, the target angle measurement information m_es1 and m_bs1 in the projectile coordinate system are compensated according to the angle errors Δes and Δbs in the projectile coordinate system, and the compensated target angle measurement information c_es1 and c_bs1 in the projectile coordinate system are obtained; Among them, c_es1 is the target elevation angle after compensation in the missile body coordinate system, and c_bs1 is the target azimuth angle after compensation in the missile body coordinate system. The calculation formula is: c_es1=m_es1-Δes c_bs1=m_bs1-Δbs.

10. The turntable time lag compensation method based on a hardware-in-the-loop simulation closed test platform according to claim 9, characterized in that: The target angle measurement information sending step comprises the following steps: Step 5.1: During the simulation cycle, coordinate conversion is performed on the compensated target angle information c_es1 and c_bs1 in the missile body coordinate system to obtain the compensated target angle information c_es1a and c_bs1a in the execution coordinate system. Among them, c_es1a represents the target elevation angle after compensation in the execution coordinate system; c_bs1a represents the target azimuth after compensation in the execution coordinate system. Step 5.2: Replace the original target angle measurement information m_es1a and m_bs1a with the target angle measurement information c_es1a and c_bs1a in the execution coordinate system, and then repackage it with the data in the serial port data packet; Step 5.3: The angle measurement package output unit sends the repackaged data packet to the onboard computing device; The calculation formula for transforming from the projectile coordinate system to the execution coordinate system is: Among them, m1 is the unit vector of target angle measurement information in the missile body coordinate system, and the calculation formula is: m1=[cos(c_es1a)cos(c_bs1a)sin(c_es1a)-cos(c_es1a)sin(c_bs1a)] Τ Among them, m 1a Convert m1 to the unit vector in the execution coordinate system, let m 1a =[m 1a xm 1a ym 1a z] Τ , m 1a x represents the x-axis coordinate value of the target angle measurement information unit vector in the execution coordinate system; m 1a y represents the y-axis coordinate value of the target angle measurement information unit vector in the execution coordinate system; m 1a z represents the z-axis coordinate value of the unit vector of the target angle measurement information in the execution coordinate system; the calculation formula of the target angle measurement information c_es1 and c_bs1 in the execution coordinate system is: c_es1=arcsin(m 1a y) c_bs1=-arctan(m 1a z / m 1a x)。

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