A simulation method and system for a launch vehicle attitude control system

Abstract

This application discloses a simulation method and system for a launch vehicle attitude control system. The simulation method specifically includes the following steps: a host computer compiles a simulation model and generates an executable program, which is then downloaded to a simulation computer; the host computer runs the simulation model and selects a simulation mode; an industrial control computer simulates the flight test process, uploads the flight control software to the flight control assembly, and starts the process; the host computer controls the simulation computer to send ignition and takeoff command signals to the flight control assembly; the simulation computer calculates and obtains attitude angle and attitude angular velocity measurement information and sends it to the flight control assembly; the flight control assembly operates after receiving the ignition and takeoff command signals, issuing actuator control commands based on the received measurement information. This application achieves step-by-step, layered verification of the theoretical controller, flight control software algorithm, flight control assembly, and servo mechanism, facilitating problem localization and analysis, and ensuring the safety and reliability of the experimental process.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of rockets, in particular, to a launch vehicle attitude control system simulation method and system. BACKGROUND

[0002] At present, the solid boost carrier in the rocket usually adopts a high-power electromechanical servo mechanism and a terminal correction attitude control power system. The attitude control design adopts a margin design in each flight stage to complete the stable control of the entire flight process under the action of various deviation working conditions and interference factors. The equivalent simulator simulation of the attitude control system and the semi-physical simulation verify the attitude control design results and examine the adaptability to the deviation working conditions, which plays a very important role in the development of the boost carrier. However, the existing attitude control system semi-physical simulation test scheme usually has the following problems: the design environment is inconsistent with the development environment, and the algorithm calibration is difficult; the equivalent simulator simulation or semi-physical simulation environment is incompatible with the mathematical simulation environment, and the simulation model or simulation software needs to be redeveloped; the simulation test flow is not fully matched with the flight test flow, and more debugging codes or communication interfaces need to be added in the flight control software, which increases the difficulty of software version control; and the simulation system composition does not fully consider the optimal configuration minimization, resulting in resource and cost waste.

[0003] Therefore, how to provide a launch vehicle attitude control system simulation test method with greatly simplified and optimized design and verification processes is a problem that those skilled in the art urgently need to solve. SUMMARY

[0004] The application provides a simulation test system of a launch vehicle attitude control system, comprising a simulation model and a simulation system connected with the simulation model; wherein the simulation model specifically comprises a theoretical controller model, an embedded software controller S function model, an actuator model, a vehicle dynamics model, a sensor measurement model and a communication interface model; the simulation system specifically comprises a host computer, an industrial computer, a simulation computer, a flight control combination, a signal conditioning box, a nozzle load platform, a servo mechanism, an angular displacement sensor, a ground power supply, an Ethernet switch and an optical terminal; wherein the host computer is used for code generation, compilation and downloading of the simulation model, control of starting and stopping of the simulation model, monitoring and feedback of running status of the simulation computer and recording of test data; the industrial computer is used for running of a ground test and launch control simulation software, uploading of flight control software, starting of a flight program and uploading of flight parameter files, control of power-on and power-off of a program-controlled power supply and completion of bus data monitoring and recording; the simulation computer: downloads executable programs of the simulation model into the simulation computer through the host computer and runs the executable programs of the simulation model to perform real-time simulation; receives feedback signals of angular displacement output of the servo mechanism; outputs attitude angles, angular velocities and axial overload measurement signals calculated by the vehicle dynamics model in the simulation computer to the flight control combination; the flight control combination: runs internal flight control software in real time, receives the attitude angles, angular velocities and axial overload measurement signals from the simulation computer through a bus, compares the attitude angles with program angles to determine attitude angle deviations and calculates control commands required by the attitude angle deviation correction mechanism; the signal conditioning box: cooperates with the simulation computer to complete input and output voltage conversion of active and passive switching signals; the nozzle load platform: uses a swing nozzle to fill high-pressure gas to simulate load characteristics of an engine ignition state, tests and experiments response characteristics of each level of servo mechanism under real load conditions; the servo mechanism: comprises a servo controller and an actuator; the servo controller receives control commands from the flight control combination to drive the actuator to move, so that the load nozzle reaches the command swing angle, and the actual swing angle is collected by the angular displacement sensor and fed back to the vehicle dynamics model of the simulation computer; the angular displacement sensor: reads angular displacement sensor data through an A / D acquisition board card of the simulation computer and feeds back to the vehicle dynamics model.

[0005] The above, wherein, further comprising, ground power supply, Ethernet switch and optical terminal; ground power supply: used for providing low-voltage control power for the flight control combination and the servo controller and providing power supply for each level of servo actuator; Ethernet switch and optical terminal: used for building a test local area network and completing network communication between the host computer, the industrial computer and the ground power supply equipment.

[0006] The above, wherein, the simulation computer further comprises an analog frequency reference signal.

[0007] The application discloses a simulation test method for an attitude control system of a carrier rocket, and specifically comprises the following steps: an upper computer compiles a simulation model, generates an executable program, and downloads the executable program to a simulation computer; a simulation control and monitoring recording software in the upper computer runs the simulation model in the simulation computer, and selects a corresponding simulation mode; in response to completion of selection of the simulation mode, an industrial computer runs a ground launch control simulation software internally, simulates a flight test process, uploads flight control software to a flight control combination, and starts the flight control software, and completes pre-ignition preparation of the flight control combination; in response to completion of the pre-ignition preparation of the flight control combination, the upper computer controls a rocket body dynamics model running in the simulation computer to send an ignition and take-off instruction signal to the flight control combination, meanwhile, the rocket body dynamics model in the simulation computer starts to solve, obtains attitude angle and attitude angular velocity measurement information, and sends the attitude angle and attitude angular velocity measurement information to a sensor measurement model; after the flight control combination receives the ignition and take-off instruction signal, flight control software in the flight control combination starts to work, and sends out an actuator control instruction through the received attitude angle and attitude angular velocity measurement information.

[0008] The application of the above, wherein the simulation mode comprises double-machine closed-loop simulation or servo closed-loop simulation.

[0009] The application of the above, wherein the double-machine closed-loop simulation mode is that the simulation model is run in an equivalent state, closed-loop control is performed by using the flight control combination, and attitude angle and attitude angular velocity information are injected into a theoretical controller.

[0010] The application of the above, wherein the servo closed-loop simulation mode is that the simulation model is run in a semi-physical state, closed-loop control is performed by using the flight control combination, and actual swing angles are collected by an angle displacement sensor and fed back to a dynamics model of the simulation computer.

[0011] The application of the above, wherein the uploading of the flight control software to the flight control combination and the starting of the flight control software further comprise: uploading parameter information required to be set in the flight control software.

[0012] The application of the above, wherein the application further comprises: simulating a frequency marker signal; and sending the frequency marker signal, the ignition and take-off instruction signal to the flight control combination.

[0013] The application of the above, wherein the received attitude angle is compared with a program angle to obtain an attitude angle deviation, and an actuator control instruction is sent according to the attitude angle deviation and the attitude angular velocity.

[0014] The application has the following beneficial effects:

[0015] (1) The simulation test scheme is designed based on the MATLAB / Simulink design environment and simulation model, which can facilitate fast implementation and verification of the algorithm, accurate comparison of the embedded C code of the flight control software and the theoretical controller algorithm, and configuration of the simulation mode and state and setting of the simulation parameters in the subsequent simulation test process.

[0016] (2) The simulation system and test scheme proposed in the application realize physical verification of the flight control combination and servo actuator, communication interface and communication protocol verification, and can test the design correctness and operation reliability of the related part of the flight control software and the coordination matching between the software and hardware of the control system.

[0017] (3) In the test scheme proposed in the application, the simulation code generation, compilation, download, simulation parameter configuration, simulation start, data monitoring, recording, saving and analysis integrated process are realized, which improves the test efficiency; and through simulation of the flight test process, simulation of the ignition and takeoff interruption signal, realization of the dynamic model calculation and flight control synchronization, and improvement of the test result confidence.

[0018] (4) The simulation system and test scheme designed in the application realize step-by-step and layered verification of the theoretical controller, flight control software algorithm, flight control combination and servo actuator, which facilitates problem positioning and analysis and ensures the safety and reliability of the test process. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the drawings needed to be used in the embodiment or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments described in the application, and other drawings can also be obtained by those skilled in the art according to these drawings.

[0020] Figure 1 is an internal structure diagram of a launch vehicle attitude control system simulation test system according to an embodiment of the application;

[0021] Figure 2 is another structure diagram of a launch vehicle attitude control system simulation test system according to an embodiment of the application;

[0022] Figure 3 is a flow chart of a launch vehicle attitude control system simulation test method according to an embodiment of the application. DETAILED DESCRIPTION

[0023] With reference to the accompanying drawings, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only some of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts are within the scope of the present application.

[0024] The present application takes a solid booster carrier attitude control system general composition as the background, and designs a carrier rocket attitude control system simulation test scheme: based on a simulation model and a test system, realizing mathematical simulation of an attitude control algorithm based on a design environment, software following test, software-in-the-loop simulation, double-machine closed-loop simulation based on a semi-physical simulation environment, servo following test, servo closed-loop simulation, so that the design process and the verification process are greatly simplified and optimized, and the design and development efficiency is improved.

[0025] Embodiment one

[0026] The simulation test method of the present application is specifically performed by means of a simulation model and a simulation system. Therefore, the simulation test system of the present embodiment specifically comprises a simulation model 110 and a simulation system 120 connected with the simulation model.

[0027] Specifically, the simulation model 110 is an attitude control system simulation model, which is developed based on MATLAB / Simulink and mainly comprises the following functional modules:

[0028] 1. Theoretical controller model, which is a control algorithm developed based on a task requirement through a MATLAB / Simulink design environment.

[0029] 2. Embedded software controller S function model, which is used for embedding flight control software C code and compiling it into an S function that can run in a Simulink environment.

[0030] 3. Actuator model, including a nozzle servo mechanism model and a terminal correction attitude control power system model, etc., the nozzle servo mechanism model is used for simulating a real servo mechanism, and the terminal correction attitude control power system model is used for simulating the dynamics characteristics of a terminal correction attitude control power system.

[0031] 4. Missile body dynamics model, which is usually a small deviation linearization model of an elastic missile body. The input of the missile body dynamics is control information such as servo mechanism swing angle, as well as disturbance force and disturbance torque, etc. The missile body dynamics model integrates the characteristics of the missile body itself and the control force and disturbance force, and calculates the state information such as the attitude angle and the attitude angular velocity of the missile body. The calculated state information such as the attitude angle and the attitude angular velocity of the missile body is taken as the input of the sensor measurement model.

[0032] 5. Sensor measurement model, including measurement of attitude angle and angular velocity, acceleration or overload measurement, etc. The simulation measurement noise is applied to the attitude angle and attitude angular velocity state information output from the dynamic model, as the output of the sensor measurement model. The sensor measurement model outputs the measurement value to the controller.

[0033] 6. Communication interface model, which requires the communication interface to match the flight test design interface to verify the flight control combination communication interface. For example, in actual flight, the flight control combination sends control instructions to the servo mechanism through the 1553B bus. In the simulation process, the simulated servo mechanism of the simulation computer receives the servo control instructions through the 1553B bus.

[0034] The communication interface mainly includes the following:

[0035] 1553 protocol communication interface: receives servo control instructions of the flight control combination and feeds back attitude information of the motion model to the flight control software.

[0036] DIO communication interface: simulates the frequency marker of the inertial measurement unit; sends ignition and take-off signals to the flight control combination; receives timing signals and final correction attitude control valve control instructions of the flight control combination, etc.

[0037] AD signal acquisition interface: reads the measurement data of the angular displacement sensor, filters and analyzes it, and generates the actual deflection angle information of the nozzle.

[0038] 7. Test state switching model: through the switching switch, the model environment required for different test states is generated, including closed-loop control software switching, deflection angle feedback data source switching, noise and interference state switching, trajectory switching, etc.

[0039] Specifically, as shown in Figure 2 The simulation system 120 mainly includes: a monitoring computer 210, a front-end interface industrial computer 220, a simulation computer 230, a flight control combination 240, a signal conditioning box 250, a nozzle load table 260, a servo mechanism 270, and an angular displacement sensor 280.

[0040] Monitoring computer: referred to as host computer, responsible for simulation model code generation, compilation and download, control of simulation model start and stop, monitoring and returning of simulation computer running state, and recording of test data.

[0041] Front-end interface industrial computer: referred to as industrial computer, responsible for running ground launch control simulation software, uploading flight control software, starting flight program and uploading flight parameter files, controlling power-on and power-off of program-controlled power supply, and completing bus data monitoring and recording, etc.

[0042] The simulation computer is connected with the host computer: used for downloading the simulation model executable program to the simulation computer through the host computer, and running the simulation model executable program to carry out real-time simulation; receiving the feedback signal of the servo mechanism angular displacement output; outputting the attitude angle, angular velocity and axial overload and other measurement signals obtained by solving the arrow dynamics model in the simulation computer to the flight control assembly.

[0043] The flight control assembly is connected with the simulation computer: used for running the internal flight control software in real time, receiving the attitude angle and angular velocity signals output by the sensor measurement model in the simulation computer through the bus, comparing the attitude angle with the program angle to determine the attitude angle deviation, and calculating the control command required by the attitude angle deviation correction actuator.

[0044] The algorithm basis for calculating the control command required by the attitude angle deviation correction actuator is PD control, i.e. proportional and differential control.

[0045] The program angle is a standard value set in advance.

[0046] The actuator specifically includes a servo mechanism model and a terminal correction attitude control power system model, and the control command required by the actuator needs to be output through the bus and electromagnetic valve.

[0047] The control command of the actuator specifically includes the servo actuator swing angle command and the command of the terminal correction attitude control power system opening or closing state.

[0048] The signal conditioning box is connected with the simulation computer: used for cooperating with the simulation computer to complete the input and output voltage conversion of active and passive switching value signals.

[0049] The nozzle load platform: using a swing nozzle to fill high-pressure gas to simulate the load characteristics of engine ignition state, and to test the response characteristics of each stage servo mechanism under real load conditions.

[0050] The servo mechanism is connected with the nozzle load platform, the simulation computer and the flight control assembly respectively: the servo mechanism includes a servo controller and an actuator. The servo controller receives the swing angle command issued by the flight control assembly, drives the actuator to act, so that the load nozzle reaches the command swing angle, and the actual swing angle is collected by the angle displacement sensor and fed back to the arrow dynamics model of the simulation computer.

[0051] The angle displacement sensor is connected with the simulation computer and also connected with the nozzle load platform: the angle displacement sensor data is read by the simulation computer A / D acquisition board card and fed back to the arrow dynamics model.

[0052] The simulation system further includes: a ground power supply, and an Ethernet switch and an optical transceiver used in cooperation.

[0053] The ground power supply provides low-voltage control power for the flight control combination and the servo controller, and provides power supply for the servo actuators at different levels.

[0054] The Ethernet switch and the optical terminal are used in cooperation to construct a test LAN, and to complete network communication between the upper computer, the industrial computer, the servo ground power supply and other devices.

[0055] Based on the simulation model and the simulation system, the mathematical simulation of the theoretical controller based on the design environment, the software following test, and the software-in-the-loop simulation can be realized, and the double-machine closed-loop simulation, the servo following test, and the servo closed-loop simulation based on the semi-physical simulation environment can also be realized.

[0056] Software following test: the simulation model is run in the design environment, the closed-loop control is performed by using the theoretical controller, and the simulated measurement information is injected into the flight control software.

[0057] Software-in-the-loop simulation: the simulation model is run in the design environment, the closed-loop control is performed by using the flight control software, and the simulated measurement information is injected into the theoretical controller.

[0058] Double-machine closed-loop simulation: the simulation model is run in the equivalent state, the closed-loop control is performed by using the flight control combination, and the simulated measurement information is injected into the theoretical controller.

[0059] Servo following test: the simulation model is run in the equivalent state, the closed-loop control is performed by using the flight control combination, the angle control command of the flight control combination is sent to the servo controller, and the measurement information of the angular displacement sensor is recorded. The measurement value of the angular displacement sensor does not participate in the closed loop, and the jet deflection angle is fed back to the motion solution model by the simulation computer servo model.

[0060] Servo closed-loop simulation: the simulation model is run in the semi-physical state, the closed-loop control is performed by using the flight control combination, and the actual deflection angle is collected by the angular displacement sensor and fed back to the dynamic model of the simulation computer.

[0061] In the equivalent state of the attitude control, the simulation system of the double-machine closed-loop simulation is specifically realized by the simulation computer simulation of the missile dynamics model, the sensor measurement model, the servo mechanism model, the terminal correction attitude control power system model, and the flight control combination participating in the closed loop, that is, except for the controller, the remaining links are realized by the simulation computer simulation.

[0062] In the semi-physical state of the attitude control, the servo mechanism model is replaced by the real servo mechanism, receives the angle control command of the flight control combination, and feeds back the actual deflection angle to the dynamic model of the simulation computer through the angular displacement sensor, and the other links are consistent with the equivalent state. The simulation system of the servo closed-loop simulation is specifically realized by the simulation computer simulation of the missile dynamics model, the sensor measurement model, the terminal correction attitude control power system model, the flight control combination, the angular displacement sensor, the load table and the servo mechanism.

[0063] After completing the above settings and functional descriptions, the design and verification process is summarized as follows:

[0064] First, mathematical simulations are conducted, with the theoretical controller participating in closed-loop control to verify the function and performance of the theoretical controller, the correctness and feasibility of the attitude control system scheme, the rationality of the selection of attitude control system parameters, and the technical indicators that can be achieved under various parameter deviations and disturbances.

[0065] After confirming the theoretical controller algorithm and parameters through mathematical simulation, software follow-up or software-in-the-loop testing is carried out to compare the S-function outputs of the theoretical controller and the embedded software, thereby verifying the consistency between the software algorithm implementation and the design.

[0066] After confirming the software algorithm through software-in-the-loop testing, a dual-machine closed-loop simulation is carried out to compare the combined output of the theoretical controller and the flight control system, thereby verifying the design correctness and operational reliability of the relevant parts of the flight control software and the coordination and matching between the control system software and hardware.

[0067] After verifying the flight control combination function and communication interface through dual-machine closed-loop simulation, servo follow-up test was carried out to compare whether the polarity of the angular displacement sensor measurement results was correct, whether it correctly tracked the swing angle control command, and whether it was consistent with the output results of the servo model.

[0068] After confirming that the servo mechanism is working properly through servo follow-up testing, servo closed-loop simulation can be carried out. The measurement results of the angular displacement sensor participate in the closed-loop control and are used as the actual swing angle of the nozzle, which is sent to the dynamic model as input.

[0069] Since mathematical simulation, software tracing, and software-in-the-loop simulation are all performed within the design environment, requiring only one computer, this embodiment mainly describes in detail the specific processes of dual-machine closed-loop simulation and servo closed-loop simulation.

[0070] Among them, such as Figure 3 As shown, the simulation process specifically includes the following steps:

[0071] Step S310: The host computer compiles the simulation model, generates an executable program, and downloads it to the simulation computer.

[0072] Step S320: The simulation control and monitoring recording software in the host computer runs the simulation model in the simulation computer and selects the corresponding simulation mode and interference superposition method.

[0073] The simulation modes include dual-machine closed-loop simulation or servo closed-loop simulation; the interference superposition method includes information such as the amplitude and frequency of the superimposed interference signal.

[0074] The control algorithm's adaptability is assessed by applying different interference signals based on superimposed amplitude, frequency, and other information.

[0075] In the dual-machine closed-loop simulation mode, the servo mechanism is not actually connected to the closed-loop control system. Instead, the servo mechanism is simulated to be connected to the closed-loop control system through a servo mechanism model.

[0076] When in servo closed-loop simulation mode, the servo closed-loop simulation simulates the actual servo mechanism connected to the closed-loop control system.

[0077] Step S330: In response to the completion of the simulation mode selection, the industrial control computer runs the internal ground test and control simulation software to simulate the flight test process, uploads the flight control software to the flight control assembly and starts it, thereby completing the pre-ignition preparation of the flight control assembly.

[0078] Uploading the flight control software to the flight control assembly and starting it also includes uploading the parameter information that needs to be set in the flight control software.

[0079] Step S340: In response to the completion of the pre-ignition preparation of the flight control assembly, the rocket body dynamics model in the host computer control simulation computer sends ignition and takeoff command signals to the flight control assembly. At the same time, the rocket body dynamics model in the simulation computer starts to calculate, obtains attitude angle and attitude angular velocity measurement information, and sends the attitude angle and attitude angular velocity measurement information to the sensor measurement model.

[0080] Specifically, the simulation control and monitoring recording software in the host computer controls the rocket body dynamics model in the simulation computer to send ignition and takeoff command signals to the flight control assembly.

[0081] Furthermore, the simulation computer also simulates frequency standard signals. Different devices work together, using frequency standard signals to synchronize time. These frequency standard signals, along with ignition and takeoff command signals, are sent to the flight control assembly.

[0082] Step S350: After receiving the ignition and takeoff command signals, the flight control software in the flight control assembly starts working and issues actuator control commands based on the received attitude angle and attitude angular velocity measurement information.

[0083] Specifically, the flight control unit compares the read attitude angle and attitude angular velocity measurement information with the attitude reference value, and calculates the actuator control command based on the deviation.

[0084] This also includes the process where, after the simulation model starts running, the simulation computer sends the running status data back to the host computer, and the host computer monitors the running status data in real time.

[0085] The operational status data includes data sent and received by the simulation computer, as well as the computational load during intermediate processes. ， It can also be set which data needs to be transmitted back according to the analysis requirements. Specifically, this includes the flight control assembly control commands received by the simulation computer, as well as the calculated attitude angles, angular velocities, and axial overload measurement signals output to the flight control assembly.

[0086] Furthermore, the host computer can plot a curve on the time axis based on the returned operating status data, display the data curve, and record and save the process data for detailed analysis after the experiment is completed.

[0087] This application has the following beneficial effects:

[0088] (1) This application is based on the MATLAB / Simulink design environment and simulation model design scheme. This scheme can facilitate the rapid implementation and verification of the algorithm, facilitate the accurate comparison between the embedded C code of the flight control software and the theoretical controller algorithm, and facilitate the setting of simulation mode and state configuration and simulation parameters in subsequent simulation tests.

[0089] (2) The simulation system and test scheme proposed in this application realize the physical verification of the flight control combination and servo actuator; realize the verification of communication interface and communication protocol, and can verify the design correctness and operational reliability of the relevant parts of the flight control software, as well as the coordination and matching between the control system software and hardware.

[0090] (3) The test scheme proposed in this application realizes the integrated process of simulation code generation, compilation and download, simulation parameter configuration, simulation start-up, data monitoring, recording, saving and analysis, which improves the test efficiency; and through the simulated flight test process, the ignition and take-off interruption signals are simulated, realizing the synchronization of dynamic model calculation and flight control, which improves the confidence of the test results.

[0091] (4) The simulation system and test scheme designed in this application realize the step-by-step and layer-by-layer verification of the theoretical controller, flight control software algorithm, flight control combination and servo mechanism, which facilitates problem location and analysis, and ensures the safety and reliability of the test process.

[0092] Although the examples referenced in this application are described for illustrative purposes only and not for limiting the scope of this application, changes, additions and / or deletions to the implementation may be made without departing from the scope of this application.

[0093] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A simulation test system for the attitude control system of a launch vehicle, characterized in that, This includes the simulation model and the simulation system connected to the simulation model; The simulation models specifically include: a theoretical controller model, an embedded software controller S-function model that can be compiled, an actuator model that simulates the dynamic characteristics of the real servo mechanism and the final attitude control power system, a rocket dynamics model that calculates the attitude angle and attitude angular velocity state information of the rocket body by comprehensively considering the characteristics of the rocket body itself and the control force and interference force it is subjected to, a sensor measurement model for measuring attitude angle and angular velocity, and a communication interface model for interface matching. The simulation system specifically includes: host computer, industrial control computer, simulation computer, flight control assembly, signal conditioning box, nozzle load platform, servo mechanism, angular displacement sensor, ground power supply, Ethernet switch, and optical transceiver. The host computer is used for generating, compiling and downloading the simulation model's code, controlling the start and stop of the simulation model, monitoring and transmitting the simulation computer's operating status, and recording experimental data. The industrial control computer is used to run the ground-based measurement and control simulation software, upload flight control software, start the flight program and upload flight data files, control the power supply to and from the programmable power supply, and complete bus data monitoring and recording. Simulation computer: The executable program of the simulation model is downloaded to the simulation computer via the host computer, and the executable program of the simulation model is run to perform real-time simulation; it receives feedback signals from the angular displacement output of the servo mechanism; and it outputs the attitude angle, angular velocity and axial overload measurement signals obtained by solving the rocket body dynamics model in the simulation computer to the flight control assembly. Flight control assembly: The internal flight control software runs in real time, receives the attitude angle, angular velocity and axial overload measurement signals from the simulation computer via the bus, compares the attitude angle with the program angle to determine the attitude angle deviation, and calculates the control commands required by the actuator to correct the attitude angle deviation. Signal conditioning box: Works with a simulation computer to convert the input and output voltages of active and passive switching signals; Nozzle load table: Using a swing nozzle filled with high-pressure gas to simulate the load characteristics of an engine ignition state, the response characteristics of each servo mechanism under real load conditions are tested and experimented. Servo mechanism: includes servo controller and actuator; the servo controller receives control commands from the flight control assembly to drive the actuator to move, so that the load nozzle reaches the command swing angle, and the actual swing angle is collected by the angular displacement sensor and fed back to the rocket body dynamics model of the simulation computer; Angular displacement sensor: The angular displacement sensor data is read by the simulator's A / D acquisition board and fed back to the rocket's dynamic model.

2. The simulation test system for the attitude control system of a launch vehicle as described in claim 1, characterized in that, It also includes ground power supplies, Ethernet switches, and optical transceivers; Ground power supply: Used to provide low-voltage control electricity for the flight control assembly and servo controller, and to provide power to servo actuators at all levels; Ethernet switches and optical transceivers: Ethernet switches and optical transceivers are used together to build a test local area network and enable network communication between the host computer, industrial control computer, and ground power equipment.

3. The simulation test system for the attitude control system of a launch vehicle as described in claim 1, characterized in that, The simulation computer also includes analog frequency standard signals.

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