A virtual simulation device and method for testing the performance of an inertially stabilized platform

Abstract

The application discloses a virtual simulation device and method for testing performance of an inertial stabilized platform, and the device comprises: an inclination sensor for measuring an inclination angle of a rotating platform; a data transmission interface for inputting and outputting the inclination angle generated by the inclination sensor, feedback instructions of the inertial stabilized platform and simulation instructions for simulating motion and vibration of a simulated mobile platform; a data processing unit for receiving the inclination angle, calculating an angular velocity of the mobile platform relative to the inertial stabilized platform and calculating a virtual miss distance according to the inclination angle and the angular velocity; and a data display unit for displaying the virtual miss distance. According to the device provided by the embodiment of the application, the performance of the inertial stabilized platform in inhibiting disturbance brought by a carrier during running can be known, and the effect of the platform in actual use can be more accurately estimated.

Description

Technical Field

[0001] This invention belongs to the field of electromechanical control, and specifically relates to a virtual simulation device and method for testing the performance of an inertial stabilization platform. Background Technology

[0002] The purpose of inertial stabilization platforms is to ensure the stability of the line-of-sight (LAS) of scientific research and observation equipment and weaponry. They are widely used in vehicles, ships, aircraft, and satellite systems to suppress LAS deviations caused by the motion of the carrier. The simulation environment for inertial stabilization platform performance testing typically requires a swing table and a target. The swing table simulates the attitude changes and vibrations of the vehicle, ship, aircraft, or satellite during operation, while the target simulates the target. The miss distance of the inertial stabilization platform under the interference of the swing table represents its stability performance. Such in-field simulation tests are relatively labor-intensive, costly, and time-consuming, and can usually only be conducted in the later stages when the equipment is nearing completion, with tight deadlines and heavy workloads. The development of inertial stabilization platforms involves the collaborative work of optics, mechanics, and electronics, a complex and cumbersome process with many uncertainties. Before in-field testing, the lack of testing conditions makes it difficult for electromechanical control engineers to assess whether the designed parameters meet the performance requirements. Therefore, throughout the entire production phase of inertial stabilization platforms, there is an urgent need for a simple, efficient, and accurate virtual simulation device for testing the performance of inertial stabilization platforms. Summary of the Invention

[0003] This invention proposes a method and virtual simulation device for testing the performance of an inertial stabilization platform. By testing the performance of the platform's speed stabilization loop, the device estimates the equipment's ability to suppress disturbances generated during vehicle movement, providing a reference for electromechanical control engineers to design control system parameters in the early stages of a project.

[0004] The first aspect of the present invention provides a virtual simulation device for testing the performance of an inertial stabilization platform, comprising: a tilt sensor for measuring the tilt angle of the turntable; a data transmission interface for inputting and outputting the tilt angle generated by the tilt sensor, feedback commands from the inertial stabilization platform, and simulation commands simulating the motion and vibration of the maneuvering platform; a data processing unit for receiving the tilt angle, calculating the angular velocity of the maneuvering platform relative to the inertial stabilization platform based on the feedback commands and the simulation commands, and calculating a virtual miss distance based on the tilt angle and the angular velocity; and a data display unit for displaying the virtual miss distance.

[0005] Preferably, the tilt sensor is mounted on the azimuth axis of the turntable of the inertial stabilization platform to measure the tilt angle, which includes pitch flatness E1 and pitch angle E2.

[0006] Preferably, the feedback command of the inertial stabilization platform provides velocity disturbance data in the three directions of yaw, pitch, and roll, and the simulation command of the motion and vibration of the simulated maneuvering platform provides motion disturbance, vibration disturbance, and other disturbance data of the maneuvering platform.

[0007] Preferably, the yaw speed disturbance V Azi Satisfying the relation

[0008]

[0009] in, The motion disturbance of the maneuvering platform is represented by an empirically pre-defined equivalent sine function. Let f(K, ω, n) represent vibration disturbances, f(K, ω, n) represent other disturbances, K represent average power, ω represent the bandwidth of Gaussian white noise, and V represent pitch velocity disturbances. Pit Roll speed disturbance V Rol and V Azi The calculation formulas are consistent, with A2 and A3 replacing A1, ω2 and ω3 replacing ω1, and μ2 and μ3 replacing μ1, respectively.

[0010] Preferably, the calculation of the virtual miss distance includes:

[0011] Calculate the first velocity V of the inertial stabilized platform. α_d Second speed V β_d The first velocity and the second velocity satisfy the following relationship:

[0012] V α_d =V Azi +V Rol *tan(E1+E2);

[0013] V β_d =V Pit .

[0014] Preferably, the data transmission interface is also used to receive and output the angular acceleration of the maneuvering platform relative to the inertial stabilized platform.

[0015] Preferably, if the data transmission interface outputs the angular acceleration of the motorized platform relative to the inertial stabilized platform, for V α_d and V β_d Differentiation as the first velocity Second speed

[0016] Preferably, the line-of-sight deviation generated by the inertial stabilization platform under the influence of velocity disturbance is calculated, i.e., the virtual miss distance, which satisfies the following relationship:

[0017]

[0018]

[0019] Where, x α (n) represents the miss distance in the first direction, x β (n) represents the miss distance in the second direction, V a V is the platform's first preset speed. β This is the platform's second preset speed.

[0020] Preferably, the data display unit displays the virtual miss distance by: displaying the miss distance x in the first direction. α (n), second direction miss distance x β The maximum miss distance (x(n)) and the root mean square miss distance (σ[x(n)]) are displayed on the interface.

[0021] A second aspect of the present invention provides a method based on the virtual simulation device provided in the first aspect, comprising: acquiring the tilt angle of a turntable; acquiring feedback commands from the inertial stabilization platform and simulation commands for simulating the motion and vibration of a maneuvering platform; calculating the angular velocity of the maneuvering platform relative to the inertial stabilization platform based on the feedback commands and the simulation commands, and calculating a virtual miss distance based on the tilt angle and the angular velocity; and displaying the virtual miss distance.

[0022] The virtual simulation apparatus and method disclosed herein are used to simulate a swing platform and a target and to test the performance of an inertial stabilization platform. This can reduce the large amount of resources required to build an environment for testing an inertial stabilization platform, and obtain the platform's suppression performance against vehicle driving disturbances by calculating the virtual miss distance. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the virtual simulation device for testing the performance of an inertial stabilization platform, as described in this invention.

[0024] Figure 2 This is a schematic diagram of the method for testing the performance of an inertial stabilization platform according to the present invention. Detailed Implementation

[0025] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0026] The present disclosure will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0027] It should be noted that, unless otherwise specified, the embodiments and features described in this disclosure can be combined with each other. This disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0028] In this invention, the setup of the swing platform can be virtually simulated using a device-simulated motorized platform, and the setup of the inertial stabilization platform can be virtually simulated using feedback commands from the inertial stabilization platform of the input device. This reduces the various physical costs associated with building the swing platform and the real inertial stabilization platform.

[0029] Example 1

[0030] Figure 1 This is a schematic diagram of the virtual simulation device for testing the performance of an inertial stabilization platform, which is involved in this invention.

[0031] In one embodiment, the virtual simulation device 100 for testing the performance of an inertial stabilization platform includes a tilt sensor 101, a data transmission interface 102, a data processing unit 103, and a data display unit 104.

[0032] The tilt sensor 101 is mounted on the azimuth axis of the turntable of the inertial stabilization platform to measure the tilt angle of the turntable.

[0033] The data transmission interface 102 is used to input and output the tilt angle generated by the tilt sensor, the feedback command from the inertial stabilization platform, and the simulation command for simulating the motion and vibration of the maneuvering platform. The feedback command from the inertial stabilization platform provides velocity disturbance data in the yaw, pitch, and roll directions, while the simulation command for simulating the motion and vibration of the maneuvering platform provides motion disturbance, vibration disturbance, and other disturbance data of the maneuvering platform.

[0034] Disturb V with yaw speed Azi For example, the yaw speed disturbance satisfies the following relationship:

[0035]

[0036] in, The motion disturbance of the maneuvering platform is represented by an empirically pre-defined equivalent sine function. Let f(K, ω, n) represent vibration disturbances, f(K, ω, n) represent other disturbances, K represent average power, ω represent the bandwidth of Gaussian white noise, and V represent pitch velocity disturbances. Pit Roll speed disturbance V Roland V Azi The calculation formulas are consistent, with A2 and A3 replacing A1, ω2 and ω3 replacing ω1, and μ2 and μ3 replacing μ1, respectively.

[0037] In this embodiment, the data transmission interface 102 is selected from the 442 series serial port chips, such as chip models MS2576 and MS2575.

[0038] Preferably, the data transmission interface MS2575 serves as the data receiving interface, and the data transmission interface MS2576 serves as the data output interface. The data receiving interface receives the tilt angle generated by the tilt sensor, the feedback command from the inertial stabilization platform, and the simulation command for the motion and vibration of the simulated maneuvering platform; the data output interface outputs the tilt angle generated by the tilt sensor, the feedback command from the inertial stabilization platform, and the simulation command for the motion and vibration of the simulated maneuvering platform.

[0039] The data processing unit 103 is used to receive the tilt angle and the angular velocity of the computer moving platform relative to the inertial stable platform, and to calculate the virtual miss distance based on the tilt angle and angular velocity.

[0040] The received tilt angles include pitch planeness E1 and pitch angle E2. The angular velocity of the computer moving platform relative to the inertial stable platform is the first velocity V of the inertial stable platform. α_d Second speed V β_d The first and second velocities satisfy the following relationship:

[0041] V α_d =V Azi +V Rol *tan(E1+E2);

[0042] V β_d =V Pit ;

[0043] The virtual miss distance, calculated based on the tilt angle and angular velocity, is the line-of-sight deviation of the inertial stabilized platform under the influence of velocity disturbances, i.e., the virtual miss distance. The virtual miss distance satisfies the following relationship:

[0044]

[0045]

[0046] Where, x α (n) represents the miss distance in the first direction, x β (n) represents the miss distance in the second direction, V a V is the platform's first preset speed. β This is the platform's second preset speed.

[0047] In one alternative implementation, the data transmission interface is also used to receive and output the angular acceleration of the maneuvering platform relative to the inertial stabilized platform. At this time, for V... α_d and V β_d Differentiation as the first velocity Second speed

[0048] In this embodiment, the data processing unit 103 is selected from a 32-bit floating-point DSP, such as the AVP32F335.

[0049] The data display unit 104 displays the calculated virtual miss distance. The data display unit 104 is a component with a data display interface, which has two parts: a simulated space containing the target and a data display section for showing the statistical results of the miss distance. In this embodiment, the data display unit 104 is selected from a serial port display, such as model DC80480KM043.

[0050] The virtual simulation device provided in this embodiment for testing the performance of an inertial stabilization platform can simulate a swing platform and a target and test the performance of the inertial stabilization platform. It can reduce the large amount of resources required to build an environment for testing the inertial stabilization platform, and obtain the platform's suppression performance against vehicle driving disturbances by calculating the virtual miss distance.

[0051] Example 2

[0052] Figure 2 This is a schematic diagram of the method for testing the performance of an inertial stabilization platform according to the present invention.

[0053] In one embodiment, method 200 includes the following steps S210 to S204, and the implementation of each step is described in detail below.

[0054] Step S201: Obtain the tilt angle of the turntable.

[0055] At this point, the tilt angle includes pitch planeness E1 and pitch angle E2.

[0056] Step S202: Obtain feedback commands from the inertial stabilization platform and simulation commands for the motion and vibration of the simulated maneuvering platform;

[0057] At this time, the data transmission interface 102 receives and outputs feedback commands from the inertial stabilization platform and simulation commands for simulating the motion and vibration of the maneuvering platform. The feedback commands from the inertial stabilization platform provide velocity disturbance data in the yaw, pitch, and roll directions, while the simulation commands for simulating the motion and vibration of the maneuvering platform provide motion disturbance, vibration disturbance, and other disturbance data of the maneuvering platform.

[0058] Step S203: Based on the feedback command and simulation command, the computer moves the platform relative to the inertial stabilized platform at an angular velocity, and calculates the virtual miss distance based on the tilt angle and angular velocity;

[0059] At this point, the method of calculating the angular velocity of the computer-driven platform relative to the inertial stabilized platform based on feedback commands and simulation commands is the same as calculating the first velocity V of the inertial stabilized platform. α_d Second speed V β_d The calculation method has been shown above and will not be repeated here.

[0060] The virtual miss distance calculated based on the tilt angle and angular velocity is the line-of-sight deviation generated by the inertial stabilized platform under the influence of velocity disturbance, i.e., the virtual miss distance. The calculation method has been shown above and will not be repeated here.

[0061] In one implementation, method 200 further acquires the angular acceleration of the maneuvering platform relative to the inertial stabilized platform. At this point, when calculating the virtual miss distance, V... α_d and V β_d Differentiation as the first velocity Second speed

[0062] Step S204: Display the virtual miss distance.

[0063] At this point, the miss distance x in the first direction is... α (n), second direction miss distance x β The maximum miss distance (x(n)) and the root mean square miss distance (σ[x(n)]) are displayed on the interface.

[0064] The virtual simulation device and method for testing the performance of an inertial stabilization platform provided by the present invention simulates a swing table and a target and tests the performance of the inertial stabilization platform. It can reduce the large amount of resources required to build an environment for testing the inertial stabilization platform, and test the performance of the platform's speed stabilization loop by calculating the virtual miss distance, thereby obtaining the platform's suppression performance against vehicle driving disturbances. It can provide a reference for electromechanical control engineers to design control system parameters in the early stages of a project.

[0065] The above embodiments are not limited to the technical solutions of the embodiments themselves, and the embodiments can be combined with each other to form new embodiments. The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of the technical solutions of the present invention.

Claims

1. A virtual simulation device for testing the performance of an inertial stabilization platform, wherein a turntable is fixed on the inertial stabilization platform, characterized in that, include: A tilt sensor is used to measure the tilt angle of the turntable; A data transmission interface is used to input and output the tilt angle generated by the tilt sensor, the feedback command of the inertial stabilization platform, and the simulation command for simulating the motion and vibration of the simulating maneuvering platform; The data processing unit is used to receive the tilt angle, calculate the angular velocity of the maneuvering platform relative to the inertial stabilization platform according to the feedback command and the simulation command, and calculate the virtual miss distance according to the tilt angle and the angular velocity. A data display unit is used to display the virtual miss distance; The calculation of the virtual miss distance includes: Calculate the first velocity of the inertial stabilized platform. Second speed The first velocity and the second velocity satisfy the following relationship: ； ； in, For yaw speed disturbance, For roll speed disturbance, For pitch speed disturbance, Pitch flatness, The pitch angle; If the data transmission interface outputs the angular acceleration of the maneuvering platform relative to the inertial stabilized platform, then... and Differentiation as the first velocity Second speed ; Calculate the line-of-sight deviation (LAS) of the inertial stabilized platform under the influence of velocity disturbance, i.e., the virtual miss distance. The virtual miss distance satisfies the following relationship: ； ； in, The miss distance in the first direction. This is the miss distance in the second direction. The platform's first preset speed, This is the platform's second preset speed.

2. The virtual simulation device for testing the performance of an inertial stabilization platform according to claim 1, characterized in that: The tilt sensor is mounted on the azimuth axis of the turntable of the inertial stabilization platform to measure the tilt angle, which includes pitch flatness. and pitch angle .

3. The virtual simulation device for testing the performance of an inertial stabilization platform according to claim 2, characterized in that: The feedback commands of the inertial stabilization platform provide velocity disturbance data in the yaw, pitch, and roll directions, while the simulation commands of the simulated maneuvering platform provide motion disturbance, vibration disturbance, and other disturbance data of the maneuvering platform.

4. The virtual simulation device for testing the performance of an inertial stabilization platform according to claim 3, characterized in that: Yaw speed disturbance Satisfying the relation in, The motion disturbance of the maneuvering platform is represented by an empirically pre-defined equivalent sine function. Indicates vibration disturbance. Indicates other disturbances, Indicates average power, The bandwidth of the Gaussian white noise, pitch velocity disturbance Roll speed disturbance and The calculation formulas are consistent in form, respectively using , replace , , replace , , replace .

5. The virtual simulation device for testing the performance of an inertial stabilization platform according to claim 4, characterized in that, include: The data transmission interface is also used to receive and output the angular acceleration of the maneuvering platform relative to the inertial stabilized platform.

6. The virtual simulation device for testing the performance of an inertial stabilization platform according to claim 5, characterized in that, The data display unit displays the virtual off-target amount, including: Miss distance in the first direction Second direction miss distance Maximum off-target distance and root mean square value of miss distance It is displayed on the interface.

7. A method for a virtual simulation device as described in claim 1, characterized in that, Includes the following steps: Obtain the tilt angle of the turntable; Obtain feedback commands from the inertial stabilization platform and simulation commands for simulating the motion and vibration of the maneuvering platform; The angular velocity of the maneuvering platform relative to the inertial stabilization platform is calculated based on the feedback command and the simulation command, and the virtual miss distance is calculated based on the tilt angle and the angular velocity. Display the virtual off-target amount; The calculation of the virtual miss distance includes: Calculate the first velocity of the inertial stabilized platform. Second speed The first velocity and the second velocity satisfy the following relationship: ； ； in, For yaw speed disturbance, For roll speed disturbance, For pitch speed disturbance, Pitch flatness, The pitch angle; If the data transmission interface outputs the angular acceleration of the motorized platform relative to the inertial stabilized platform, then... and Differentiation as the first velocity Second speed ; Calculate the line-of-sight deviation (LAS) of the inertial stabilized platform under the influence of velocity disturbance, i.e., the virtual miss distance. The virtual miss distance satisfies the following relationship: ； ； in, The miss distance in the first direction. This is the miss distance in the second direction. The platform's first preset speed, This is the platform's second preset speed.

Images