A virtual-real combined multi-machine cooperative semi-physical simulation system and method

Abstract

The application relates to a virtual-real combined multi-machine cooperative semi-physical simulation system and method; the system at least comprises a multi-model parallel simulation machine, an interface device, a real physical guidance prototype and a real-time network; the multi-model parallel simulation machine is used for real-time solution of mathematical software of aircraft dynamics, kinematics equations and control systems; data interaction between the real physical guidance prototype and the multi-model parallel simulation machine is realized through the real-time network and the interface device. The simulation method provided by the application has strong expansibility and high universality; by using the simulation method and system provided by the application, only adaptive development of model quantity in the multi-model parallel simulation machine and different model requirements is needed, so that different model verification requirements can be matched.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of semi-physical simulation, and relates to a multi-aircraft formation flight semi-physical simulation method. A virtual-physical combined semi-physical simulation system is established to support physical prototype access, decision algorithm embedding, virtual-physical interactive interaction and the like, so as to verify the formation flight cooperative control algorithm. BACKGROUND

[0002] In recent years, new complex aviation, aerospace and weapon systems have appeared, the complexity of simulation subsystem models has been continuously increased, especially the appearance of new war methods and weapon systems such as aircraft networking cooperation and intelligent ammunition cooperation, so that there is a certain demand for a multi-aircraft cooperative real-time simulation platform, and how to select an efficient and easy-to-use real-time simulation platform is very important in shortening the project cycle, reducing system difficulty and guaranteeing system performance and the like. Therefore, the virtual combined multi-aircraft cooperative semi-physical simulation method is proposed, and a simulation model and a semi-physical simulation are combined, so that simulation verification of a full digital running environment is supported, joint experiments of a physical prototype into a simulation system are supported, and various means are provided for simulation experiments of rules, algorithms and intelligent generation mechanisms of cooperative tasks. SUMMARY

[0003] OBJECTIVE:

[0004] The application aims to provide a virtual-physical combined multi-aircraft cooperative semi-physical simulation method to verify the correctness of cooperative task scene transformation, path planning and formation control algorithms.

[0005] TECHNICAL SCHEME: The application provides a virtual-physical combined multi-aircraft cooperative semi-physical simulation system, which at least comprises a multi-model parallel simulation machine, an interface device, a physical guidance prototype and a real-time network. The multi-model parallel simulation machine is used for real-time solution of aircraft dynamics, kinematics equations and mathematical software of a control system. The interface device is used for data interaction between the physical guidance prototype and the multi-model parallel simulation machine through the real-time network.

[0006] Further, the multi-model parallel simulation machine is internally provided with a plurality of model parallel real-time solution modules, which can respectively realize a plurality of aircraft model solution and simulated data link information interaction.

[0007] Further, the interface device transmits data link information in the physical guidance prototype to the multi-model parallel simulation machine, provides other required sensor data for the physical guidance prototype, and thus completes solution of a guidance law and a cooperative control algorithm in the physical guidance prototype.

[0008] Further, the real-time network adopts a combination of a reflective memory board and an optical fiber cable to realize simulation data interaction between devices.

[0009] Another aspect of the present application also provides a virtual-real combined multi-machine cooperative semi-physical simulation method, which is based on the simulation system as described above and specifically comprises the following steps:

[0010] In step S1, the multi-model parallel simulation machine and the interface device are networked, wherein the multi-model parallel simulation machine is in a multi-model solving waiting state.

[0011] In step S2, the real physical guided prototype is powered on and completes the pre-launch fire control process.

[0012] In step S3, the launch switching is completed through electrical control, each model in the multi-model parallel simulation machine receives an A instruction according to the timing requirements and performs corresponding model solving tasks; at the same time, the real physical guided prototype also receives an A instruction according to the timing requirements and performs corresponding guided law solving to obtain a control surface signal, which is then transmitted to the model in the multi-model parallel simulation machine to complete the body solving control, thereby realizing the semi-physical simulation closed loop.

[0013] In step S4, the related data link information of each model in the multi-model parallel simulation machine and the real physical guided prototype is collected into the data interaction module of the multi-model parallel simulation machine for data sharing, so as to realize the information interaction between the simulated data links and verify the cooperative task path planning and formation control algorithms.

[0014] Further, in step S1, when networking, the interface device receives the initial acceleration, angular velocity and other information of the multi-model parallel simulation machine and transmits them to the real physical guided prototype for the pre-launch alignment process.

[0015] Further, in step S3, the corresponding solving process refers to that the multi-model parallel simulation machine solves the dynamics and kinematics equations of one of the aircrafts in real time, and completes the semi-physical closed loop simulation with the real physical guided prototype through the real-time network and the interface device; at the same time, the multi-model parallel simulation machine also solves the motion trajectories and cooperative control algorithms of other aircrafts in real time.

[0016] Further, in step S4, when sharing data, the interface device also transmits the simulated data link information of other aircrafts to the real physical guided prototype, so as to solve the cooperative control algorithm.

[0017] Further, in step S4, the verification process is that, taking one of the aircrafts as an example, the data link information of other aircrafts required for networking is extracted, the positional relationship between the aircrafts is judged, and the task path planning of each aircraft is adjusted to realize the verification of the formation control algorithm.

[0018] Further, in step S2, the pre-launch fire control process configures corresponding devices to complete the fire control process according to the type requirements.

[0019] Beneficial technical effects: the present application can complete multi-machine cooperative semi-physical simulation test only with one set of physical prototype, can effectively verify the formation cooperative control algorithm embedded in the physical guidance prototype, also adds the formation cooperative control algorithm in the simulation model to simulate other physical guidance prototypes, avoids introducing multiple physical guidance prototypes, greatly simplifies the simulation system and simulation process, and well solves the problem of large multi-machine cooperative semi-physical simulation system.

[0020] The simulation method provided by the present application has strong scalability and high universality, and by using the simulation system provided by the present application, only adaptive development of the number of models in the multi-model parallel simulation machine and different model requirements is needed, so that different model verification requirements can be matched. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 Multi-machine cooperative semi-physical simulation system connection diagram

[0022] Among them: 1: multi-model parallel simulation machine; 2: interface device; 3: physical guidance prototype; 4: real-time network.

[0023] Figure 2 The simulation method flowchart of the present application. DETAILED DESCRIPTION

[0024] The technical solutions of the present application will be described clearly and completely in combination with the drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application.

[0025] Referring to the drawings, Figure 1 , the present application specifically designs a virtual-real combined multi-machine cooperative semi-physical simulation system, which comprises a multi-model parallel simulation machine 1, an interface device 2, a physical guidance prototype 3 and a real-time network 4. The multi-model parallel simulation machine 1 is used for real-time solution of the mathematical software of the aircraft dynamics, kinematics equation and control system. The data interaction between the physical guidance prototype 3 and the multi-model parallel simulation machine 1 is realized through the real-time network 4 and the interface device 2.

[0026] Referring to the drawings, Figure 2 , a virtual-real combined multi-machine cooperative semi-physical simulation method is specifically proposed by using the semi-physical simulation system designed as shown in Figure 1 . The specific implementation process of the method comprises the following steps:

[0027] Step 1, network the multi-model parallel simulation machine and the interface device, wherein the multi-model parallel simulation machine is in a multi-model solution waiting state;

[0028] Step 2, the physical guidance prototype is powered on and completes the pre-launch fire control process;

[0029] Step 3, the launch switch is completed through electrical control, and each model in the multi-model parallel simulation machine receives the A instruction according to the timing requirements and performs the corresponding model calculation task; at the same time, the physical guidance prototype also receives the A instruction according to the timing requirements and performs the corresponding guidance law calculation to obtain the control surface signal, which is then transmitted to the model in the multi-model parallel simulation machine to complete the body calculation control and realize the semi-physical simulation closed loop; in the specific execution of this step, the calculation process is performed according to the following strategy: the multi-model parallel simulation machine real-time calculates the dynamics and kinematics equations of one of the aircrafts, and completes the semi-physical closed loop simulation with the physical guidance prototype through real-time network and interface equipment; at the same time, the multi-model parallel simulation machine also real-time calculates the motion trajectories and cooperative control algorithms of other aircrafts.

[0030] Step 4, the related data link information of each model in the multi-model parallel simulation machine and the physical guidance prototype is collected into the data interaction module of the multi-model parallel simulation machine for data sharing, so as to realize the information interaction between the simulated data links and verify the cooperative task path planning, formation control and other algorithms.

[0031] Taking an 8-aircraft cooperative semi-physical simulation system as an example, the specific implementation includes the following steps:

[0032] A) In the process of multi-aircraft cooperative semi-physical simulation test, the multi-model parallel simulation machine 1, interface equipment 2, physical guidance prototype 3, and real-time network 4 are connected into the simulation system. The multi-model parallel simulation machine 1 can realize real-time calculation of up to 16 simulation models in the semi-physical simulation system, as well as real-time distribution of semi-physical simulation data;

[0033] B) The multi-model parallel simulation machine 1 real-time calculates the dynamics and kinematics equations of one aircraft, and completes the semi-physical closed loop simulation with the physical guidance prototype 3 through the real-time network 4 and interface equipment 2; at the same time, the multi-model parallel simulation machine 1 real-time calculates the motion trajectories and cooperative control algorithms of the other 7 aircrafts;

[0034] C) The data interaction between the physical guidance prototype 3 and the multi-model parallel simulation machine 1 is realized through the real-time network 4 and interface equipment 2;

[0035] D) The 8-aircraft data information is collected by one of the real-time running modules of the multi-model parallel simulation machine 1, and each model and the physical guidance prototype 3 extracts the required model information through shared memory to realize the information interaction between the simulated data links, thereby verifying the cooperative task path planning, formation control and other algorithms.

[0036] The application can complete the multi-machine cooperative semi-physical simulation test by only one set of real machine, can effectively verify the formation cooperative control algorithm embedded in the real guided machine, also adds the formation cooperative control algorithm in the simulation model to simulate other real guided machines, avoids introducing multiple real guided machines, greatly simplifies the simulation system and simulation process, and well solves the problem of large multi-machine cooperative semi-physical simulation system.

[0037] The above specific embodiments or cases are only used to explain the technical solutions of the application, and are not used to limit the application, and the parts not described in detail are regarded as the conventional technical means or common knowledge in the art; it should be understood by those skilled in the art that, based on the design idea of the application, the technical solutions recorded in the foregoing embodiments can be adaptively modified, or some or all of the technical features can be replaced by equivalents, and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the application.

Claims

1. A multi-machine collaborative hardware-in-the-loop simulation system combining virtual and real technologies, characterized in that, The system includes at least a multi-model parallel simulator, interface devices, a physical guidance prototype, and a real-time network; the multi-model parallel simulator is used for real-time calculation of mathematical software for aircraft dynamics, kinematic equations, and control systems; and data interaction between the physical guidance prototype and the multi-model parallel simulator is realized through the real-time network and interface devices. The process of using the system to perform simulation includes the following steps: Step S1: Connect the multi-model parallel simulator and interface devices to the network, wherein the multi-model parallel simulator is in a multi-model solution waiting state; Step S2: Power on the physical guidance prototype and complete the pre-launch fire control process; Step S3: The transmission to power is completed through electrical control. Each model in the multi-model parallel simulator receives the A command according to the timing requirements and executes the corresponding model calculation task. At the same time, the physical guidance prototype also receives the A command according to the timing requirements, executes the corresponding guidance law calculation, obtains the control surface signal, and then transmits it to the model in the multi-model parallel simulator to complete the body calculation control, realizing the semi-physical simulation closed loop. Step S4: The relevant data link information of each model and the physical guidance prototype in the multi-model parallel simulator is collected into the data interaction module of the multi-model parallel simulator for data sharing, thereby realizing information interaction between simulated data links to verify the collaborative task path planning and formation control algorithms. In step S3, the corresponding solution process refers to: the multi-model parallel simulator calculates the dynamics and kinematic equations of one of the aircraft in real time, and completes a semi-physical closed-loop simulation with the physical guidance prototype through real-time network and interface equipment; at the same time, the multi-model parallel simulator also calculates the motion trajectory and cooperative control algorithm of other aircraft in real time.

2. The virtual-real integrated multi-machine collaborative hardware-in-the-loop simulation system as described in claim 1, characterized in that, The multi-model parallel simulator has multiple built-in model parallel real-time solution modules, which can realize the solution of multiple aircraft models and the interaction of simulation data link information.

3. The virtual-real integrated multi-machine collaborative hardware-in-the-loop simulation system as described in claim 1, characterized in that, The interface device transmits the data link information from the physical guidance prototype to the multi-model parallel simulator; it provides the physical guidance prototype with other sensor data required, thereby completing the calculation of the guidance law and cooperative control algorithm in the physical guidance prototype.

4. The virtual-real integrated multi-machine collaborative hardware-in-the-loop simulation system as described in claim 1, characterized in that, The real-time network uses a combination of reflective memory boards and fiber optic cables for simulation data exchange between devices.

5. The virtual-real integrated multi-machine collaborative hardware-in-the-loop simulation system as described in claim 1, characterized in that, In step S1, during network setup, the interface device receives initial acceleration, angular velocity, and other information from the multi-model parallel simulator and transmits it to the physical guidance prototype for pre-launch alignment.

6. The virtual-real combined multi-machine collaborative hardware-in-the-loop simulation system as described in claim 5, characterized in that, In step S4, during data sharing, the interface device also transmits the simulated data link information of other aircraft to the physical guidance prototype, thereby performing the calculation of the collaborative control algorithm.

7. The virtual-real combined multi-machine collaborative hardware-in-the-loop simulation system as described in claim 6, characterized in that, In step S4, the verification process is as follows: taking one of the aircraft as an example, extract the data link information of other aircraft required for networking, determine the positional relationship between each aircraft, and adjust their respective mission path planning to realize the verification of the formation control algorithm.

8. The virtual-real integrated multi-machine collaborative hardware-in-the-loop simulation system as described in claim 7, characterized in that, In step S2, the pre-launch fire control process involves configuring the corresponding equipment according to the model requirements to complete the fire control process.

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