Model-based joint simulation method and system for radar servo system control loop

Abstract

The present invention discloses a model-based co-simulation method and system for a radar servo system control loop. The method comprises creating a radar servo system using a SysML block definition diagram; establishing the states of the radar servo system and the transition conditions between states using a SysML state machine to obtain the radar servo system state machine; establishing the activity behaviors of the radar servo system using a SysML activity diagram to obtain the radar servo system activity diagram; creating a mathematical model of the radar servo system control loop using Matlab's Simulink tool; encapsulating the mathematical model as opaque actions and adding them to a SysML control loop closed activity diagram; creating an interface for calling behavioral actions and opaque actions of the control loop mathematical model; and simulating the radar servo system state machine and activity diagram using a SysML simulation diagram. The present invention simulates the working process of the radar servo system in an operational state, resolving the problem that system testing and verification primarily rely on physical prototypes, resulting in numerous technical iterations, design and manufacturing errors, and high cycle costs.

Description

Technical Field

[0001] The present invention relates to the field of model-based system engineering design, and more specifically to a model-based radar servo system control loop co-simulation method and system. Background Art

[0002] With the increasing complexity of products and the market's increasing demands for product performance, R&D cycles, and costs, the traditional serial development model, relying solely on testing and iterative iterations of "design - test verification - design modification - retesting," is no longer able to meet product R&D needs. Co-simulation of radar servo system models can transform the traditional serial development model to a parallel R&D model of "design - virtual synthesis - virtual testing - digital manufacturing - physical manufacturing." Co-simulation of the radar servo system control loop is a crucial step in system model simulation analysis and a key step in verifying system functional performance. It enables virtual testing and verification of products in the early stages of design, eliminates system design flaws, and ensures first-time design and manufacturing success, thereby improving product R&D quality, reducing R&D costs, and shortening product development cycles.

[0003] Therefore, it is necessary to provide a model-based radar servo system control loop joint simulation method and system. Summary of the Invention

[0004] This invention provides a model-based radar servo system control loop co-simulation method and system. This method addresses the problem of system test verification primarily relying on physical prototypes, resulting in numerous technical iterations, design and manufacturing errors, and high cycle costs. Applying this model-based radar servo system control loop co-simulation method and system to the functional performance verification phase of early system design, it assists designers in refining system and parameter design, effectively reducing the number of subsequent physical verifications, shortening verification time and eliminating unnecessary design changes.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] An object of the present invention is to provide a model-based radar servo system control loop joint simulation method, the method comprising:

[0007] Use SysML block definition diagrams to create a radar servo system;

[0008] Use SysML state machine to establish the states of radar servo system and the transition conditions between states to obtain radar servo system state machine;

[0009] Use SysML activity diagram to establish the activity behavior of radar servo system to obtain radar servo system activity diagram;

[0010] Use Matlab's Simulink tool to create a mathematical model of the radar servo system control loop;

[0011] Encapsulate the radar servo system control loop mathematical model as an opaque action and add it to the SysML control loop closed activity diagram;

[0012] Create interfaces in SysML control loop closed activity diagrams to call behavioral actions and opaque actions in the control loop mathematical model;

[0013] The state machine and activity diagram of the radar servo system are simulated using SysML simulation diagrams.

[0014] Optionally, the method further comprises creating a target angle, a real-time angle and a real-time speed as value attributes of the radar servo system.

[0015] Optionally, the active behaviors of the radar servo system include control instruction processing, trajectory planning and control loop closure activities.

[0016] Optionally, the interface for calling behavioral actions and opaque actions of the control loop mathematical model in the SysML control loop closed activity diagram further includes associating the value attribute with a corresponding variable in the mathematical model.

[0017] Optionally, the interface for calling behavioral actions and opaque actions of the control loop mathematical model in the SysML control loop closed activity diagram further includes passing the target angle value attribute to the input data of the position loop through the input port, and passing the output data of the position loop and the speed loop to the real-time angle and real-time speed value attributes through the output port.

[0018] Optionally, the radar servo system further includes closing a control loop according to specific control instructions and trajectory planning.

[0019] Another object of the present invention is to provide a model-based radar servo system control loop co-simulation system, including a SysML block definition diagram, a SysML state machine, a SysML activity diagram, Matlab / Simulink software, a SysML control loop closed activity diagram, and a SysML simulation diagram, wherein:

[0020] The SysML block definition diagram is used to create a radar servo system;

[0021] The SysML state machine is used to establish states of the radar servo system and transition conditions between states to obtain a radar servo system state machine;

[0022] The SysML activity diagram is used to establish the activity behavior of the radar servo system to obtain the radar servo system activity diagram;

[0023] The Matlab Simulink tool is used to create a mathematical model of the radar servo system control loop;

[0024] The SysML control loop closed activity diagram is constructed by creating interfaces for calling behavioral actions and opaque actions of the control loop mathematical model, and associating value attributes with corresponding variables in the mathematical model;

[0025] The SysML simulation diagram is used to simulate the radar servo system state machine and activity diagram.

[0026] Optionally, the radar servo system status mainly includes initialization status, working status and maintenance status. The working status is further divided into online working status and local working status. The state conversion is completed through the SysML UI diagram panel switch signal.

[0027] Optionally, the activity behavior of the radar servo system is controlled by the main control instructions when it is in the online working state; and is controlled by manual control instructions when it is in the local working state. The radar servo system will assign the corresponding target angle according to the control instructions, and then close the control loop according to the real-time angle.

[0028] The beneficial effects of the present invention are as follows:

[0029] This paper combines SysML with Matlab's Simulink model to create a radar servo system control loop simulation model. This combined simulation model simulates the entire operating process of the radar servo system in operation, effectively verifying the system's functional performance, improving product development quality, and eliminating system design flaws. This model can assist designers in refining system and parameter design in the early stages of design, effectively reducing the number of subsequent physical verifications, shortening verification time and eliminating unnecessary design changes. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to make the objectives, technical solutions and advantages of the present invention more clear, the specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings in the present invention.

[0031] Figure 1 A flow chart showing a model-based radar servo system control loop co-simulation method. DETAILED DESCRIPTION

[0032] In order to more clearly illustrate the present invention, the present invention is further described below in conjunction with preferred embodiments and accompanying drawings. Similar components in the accompanying drawings are represented by the same reference numerals. It should be understood by those skilled in the art that the following detailed description is illustrative rather than restrictive and should not be used to limit the scope of protection of the present invention.

[0033] As attached Figure 1 The flowchart of the model-based radar servo system control loop co-simulation method shown includes:

[0034] Step 1: Create a radar servo system using SysML block definition diagram;

[0035] Step 2: Create target angle, real-time angle, and real-time speed as value attributes of the radar servo system;

[0036] Step 3: Use SysML state machine to establish the states of the radar servo system and the transition conditions between states to obtain the radar servo system state machine;

[0037] Step 4: Use SysML activity diagram to establish the activity behavior of the radar servo system to obtain the radar servo system activity diagram;

[0038] Step 5: Use Matlab's Simulink tool to create a mathematical model of the radar servo system control loop. Simulink is a branch product of Matlab, mainly used to achieve modularization and dynamic simulation of engineering problems;

[0039] Step 6: Encapsulate the radar servo system control loop mathematical model as an opaque action and add it to the SysML control loop closed activity diagram. Select Matlab as the language, enter the function name, and add the function path to the SysML model.

[0040] Step 7: Create an interface in the SysML control loop closed activity diagram to call the behavior action and the opaque action of the control loop mathematical model, and associate the value attribute with the corresponding variable in the mathematical model;

[0041] Step 8: Use SysML simulation diagrams to simulate the radar servo system state machine and activity diagram. The radar servo system will realize the function of closed control loop according to specific control instructions and trajectory planning.

[0042] In a specific embodiment, the radar servo system states established by the SysML state machine mainly include initialization state, working state and maintenance state. The working state is further divided into online working state and local working state. The conversion of working state is completed through the switch signal of the SysML UI diagram panel.

[0043] In one specific embodiment, the radar servo system's activities primarily include control command processing, trajectory planning, and control loop closure. In online mode, the system is controlled by master control commands, while in local mode, it is controlled by manual control commands. The system assigns target angles based on control commands and then closes the control loop based on the real-time angle.

[0044] In a specific embodiment, the mathematical model of the radar servo system control loop is, from the inside out, a current loop, a speed loop, and a position loop, respectively, including nonlinear links such as friction, speed, and current saturation. According to the specific characteristics of the system, a single-motor or dual-motor parallel anti-backlash drive mode can be selected, the load characteristics and controller parameters can be configured, and the system's maximum angular velocity and maximum angular acceleration can be limited.

[0045] In a specific embodiment, in a SysML control loop closed activity diagram, the target angle value attribute is passed to the input data of the position loop through an input port, and the output data of the position loop and the speed loop are passed to the real-time angle value attribute and the real-time speed value attribute through an output port.

[0046] In a specific embodiment, when a SysML simulation diagram is simulated, taking a certain system as an example, in the online working state, the system completes the orientation reversal use case according to the master control instruction; in the local working state, the system completes the orientation "forward", "reverse" or "one-key return" operation according to the manual control instruction.

[0047] This invention addresses the problem of system testing and verification primarily relying on physical prototypes, resulting in numerous technical iterations, design and manufacturing errors, and high cycle costs. Applying a model-based joint simulation method for radar servo system control loops to the functional performance verification phase of early system design can assist designers in refining system and parameter design, effectively reducing the number of subsequent physical verifications, shortening verification time and eliminating unnecessary design changes.

[0048] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not limitations on the implementation methods of the present invention. For ordinary technicians in the relevant field, other different forms of changes or modifications can be made based on the above description. It is impossible to list all the implementation methods here. All obvious changes or modifications derived from the technical solution of the present invention are still within the scope of protection of the present invention.

Claims

1. A model-based joint simulation method for radar servo system control loop, characterized in that: The method includes Use SysML block definition diagrams to create a radar servo system; Use SysML state machine to establish the states of radar servo system and the transition conditions between states to obtain radar servo system state machine; Use SysML activity diagram to establish the activity behavior of radar servo system to obtain radar servo system activity diagram; Use Matlab's Simulink tool to create a mathematical model of the radar servo system control loop; Encapsulate the mathematical model of the radar servo system control loop as an opaque action and add it to the SysML control loop closed activity diagram; Create interfaces in SysML control loop closed activity diagrams to call behavioral actions and opaque actions in the control loop mathematical model; Use SysML simulation diagrams to simulate the radar servo system state machine and activity diagrams; The interface for calling behavioral actions and opaque actions of the control loop mathematical model in the SysML control loop closed activity diagram also includes transmitting the target angle value attribute to the input data of the position loop through the input port, and transmitting the output data of the position loop and the speed loop to the real-time angle and real-time speed value attributes through the output port.

2. The method according to claim 1, characterized in that The method also includes creating a target angle, a real-time angle, and a real-time speed as value attributes of the radar servo system.

3. The method according to claim 1, characterized in that The radar servo system's activities include control command processing, trajectory planning, and control loop closure activities.

4. The method according to claim 1, wherein The interface for calling behavioral actions and opaque actions of the control loop mathematical model in the SysML control loop closed activity diagram further includes associating value attributes with corresponding variables in the mathematical model.

5. The method according to claim 1, characterized in that The radar servo system further includes closing the control loop according to specific control instructions and trajectory planning.

6. A model-based radar servo system control loop joint simulation system, characterized in that: Including SysML block definition diagram, SysML state machine, SysML activity diagram, Matlab / Simulink software, SysML control loop closure activity diagram and SysML simulation diagram, among which, The SysML block definition diagram is used to create blocks representing the radar servo system; The SysML state machine is used to establish the states of the radar servo system and the transition conditions between the states, and to create a radar servo system state machine; The SysML activity diagram is used to establish the activity behavior of the radar servo system and create the radar servo system activity diagram; The Matlab Simulink tool is used to create a mathematical model of the radar servo system control loop; The SysML control loop closed activity diagram associates value attributes with corresponding variables in the mathematical model by creating an interface that calls behavioral actions and opaque actions of the control loop mathematical model; The SysML simulation diagram is used to simulate the radar servo system state machine and activity diagram; The interface for calling behavioral actions and opaque actions of the control loop mathematical model in the SysML control loop closed activity diagram also includes transmitting the target angle value attribute to the input data of the position loop through the input port, and transmitting the output data of the position loop and the speed loop to the real-time angle and real-time speed value attributes through the output port.

7. The system according to claim 6, wherein: The radar servo system states include initialization state, working state and maintenance state. The working state is divided into online working state and local working state. The state conversion is completed through the SysML UI panel switch signal.

8. The system according to claim 6, wherein: The activity of the radar servo system is controlled by the master control command when in the online working state; and is controlled by the manual control command when in the local working state. The radar servo system will assign the corresponding target angle according to the control command, and close the control loop as well as the real-time angle.

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