Semi-physical simulation system for joint fault simulation of rudder circuit and attitude measurement

Abstract

The present application discloses a semi-physical simulation system for realizing joint fault simulation of rudder circuit and attitude measurement, and relates to the technical field of fault simulation. The semi-physical simulation system analyzes the typical fault generation mechanism of the key components of the aircraft rudder circuit and attitude measurement, selects different programmable components to build two physical devices, namely the rudder circuit simulation device and the attitude measurement simulation device, and combines the software simulation model in the simulation host to form a control closed loop to constitute the semi-physical simulation system. By using the entities of the rudder circuit and attitude measurement components, the high-dynamic characteristic aircraft can be controlled by programming to realize the joint simulation and simulation of the typical faults of the aircraft rudder circuit and attitude measurement according to different faults. The semi-physical simulation system can meet the growing fault simulation requirements of high fidelity, high real-time, multi-dimensionality, component replaceability, etc. faced in the fault simulation of rudder circuit and attitude sensor.

Description

Technical Field

[0001] The present application relates to the technical field of fault simulation, and in particular to a semi-physical simulation system for realizing joint fault simulation of rudder loop and attitude measurement. Background Art

[0002] There are currently 75 countries in the world with about 130 types of aircraft manufactured by 19 countries. Various types of aircraft have diverse uses and are widely used in various military and civilian fields. The functions of modern aircraft are gradually enriched, so their own structures are becoming more and more complex. Coupled with the influence of various external interferences, the reliability of aircraft is also affected, and the possibility of aircraft failure during mission execution is gradually increasing. If an aircraft fails in time and effective countermeasures cannot be taken, it will not only affect the mission being performed, but also cause the aircraft to be directly abandoned and reduce the reuse rate. Therefore, simulation and diagnosis of typical aircraft faults are of great significance to verifying aircraft fault diagnosis algorithms, etc. It is a necessary guarantee to ensure the normal operation of the aircraft and the basis for further taking effective fault-tolerant measures.

[0003] Considering that aircraft of the same size are expensive and there is little actual flight fault data, it is difficult to directly perform fault simulation on the actual aircraft to obtain fault data. Existing fault simulation and emulation mainly involves targeted modeling of the components, systems and complete machines that need to be simulated in the simulation software according to specific simulation requirements, and emulation of the faults through the established models. However, considering that different types of components, systems and complete machines have differentiated characteristics, after the targeted modeling is completed, it is often necessary to continuously optimize and correct the modeling parameters according to the physical entities of the components, systems and complete machines. During this period, a large amount of modeling and debugging of specific types of components, systems and complete machines is required, which is difficult and cumbersome to implement. Summary of the invention

[0004] In view of the above problems and technical requirements, this application proposes a semi-physical simulation system for realizing joint fault simulation of rudder loop and attitude measurement. The technical solution of this application is as follows:

[0005] A semi-physical simulation system for realizing joint fault simulation of rudder circuit and attitude measurement, the semi-physical simulation system comprises a simulation host, a rudder circuit simulation device and an attitude measurement simulation device:

[0006] The rudder circuit simulation device includes a servo, an electromagnetic clutch, a physical rudder surface, an encoder and a torque motor, one end of the electromagnetic clutch is connected to the output shaft of the servo, the other end of the electromagnetic clutch is connected to one end of the rotating shaft of the physical rudder surface, the other end of the rotating shaft of the physical rudder surface is connected to the output shaft of the torque motor, and the encoder is used to collect the measured value of the deflection position of the rotating shaft of the physical rudder surface;

[0007] The attitude measurement simulation device includes a three-axis turntable and an attitude sensor, and the attitude sensor is fixed on the table of the three-axis turntable;

[0008] The simulation host establishes communication connections with the steering gear, electromagnetic clutch, encoder, torque motor, three-axis turntable and attitude sensor respectively. The simulation host is equipped with a simulation model of the aircraft system except for the rudder circuit and attitude sensor.

[0009] The working process of the semi-physical simulation system includes:

[0010] After completing the initialization of the semi-physical simulation system, the simulation host connects the data obtained from the rudder loop simulation device and the attitude measurement simulation device to the simulation model to form a control closed loop of the aircraft system, and generates a rudder deflection instruction and an attitude control instruction based on the constructed control closed loop of the aircraft system. The simulation host controls the servo to drive the physical rudder to rotate according to the rudder deflection instruction, and controls the three-axis turntable to drive the attitude sensor to move according to the attitude control instruction.

[0011] In the process of the simulation host driving the attitude sensor to move, the simulation host obtains the attitude measured value of the attitude sensor, and directly connects the attitude measured value to the simulation model, or modifies the attitude measured value according to the attitude measurement fault simulation requirements and then connects it to the simulation model;

[0012] When the simulation host drives the physical rudder to rotate, the simulation host controls the electromagnetic clutch and the torque motor according to the rudder circuit fault simulation requirements, and obtains the measured values ​​of the built-in sensor of the servo, the measured values ​​of the angular position of the encoder, and the measured values ​​of the built-in sensor of the torque motor, and then connects them to the simulation model.

[0013] Its further technical solution is that the simulation host controls the electromagnetic clutch and the torque motor according to the rudder circuit fault simulation requirements, including:

[0014] When the rudder circuit fault simulation requirement indicates that the simulated rudder circuit has no fault, the simulation host applies the maximum excitation current to the electromagnetic clutch to make the output shaft of the servo and the rotating shaft of the physical rudder surface completely locked and rotate synchronously, and controls the torque motor to output a hinge torque equivalent to the rudder surface load;

[0015] The simulation host controls the output torque or output deflection angle of the torque motor to adjust the rudder surface load of the physical rudder surface according to the rudder circuit fault simulation requirement indicating the simulated rudder circuit fault type, and controls the excitation current of the electromagnetic clutch to adjust the locking degree between the output shaft of the servo and the rotating shaft of the physical rudder surface. The greater the excitation current applied to the electromagnetic clutch, the higher the locking degree between the output shaft of the servo and the rotating shaft of the physical rudder surface, and the more synchronized the rotation between the output shaft of the servo and the rotating shaft of the physical rudder surface.

[0016] A further technical solution is that when the rudder circuit fault simulation requirement indicates that the simulated rudder circuit fault type is a rudder circuit jam fault, the simulation host applies a maximum excitation current to the electromagnetic clutch to make the output shaft of the servo and the rotating shaft of the physical rudder surface completely locked and rotate synchronously, and controls the torque motor to maintain the jam angle at the maximum torque;

[0017] When the rudder circuit fault simulation requirement indicates that the simulated rudder circuit fault type is a rudder circuit defect fault, the simulation host applies the maximum excitation current to the electromagnetic clutch to make the output shaft of the servo and the rotating shaft of the physical rudder surface completely locked and rotate synchronously, and controls the torque motor to output the hinge torque equivalent to the rudder surface load defect;

[0018] When the rudder circuit fault simulation requirement indicates that the simulated rudder circuit fault type is a rudder circuit loose and floating fault, the simulation host controls the torque motor to output a hinge torque equivalent to the rudder surface load, and controls the electromagnetic clutch to release or power off instantly to release the output shaft of the servo and the rotating shaft of the physical rudder surface;

[0019] When the rudder circuit fault simulation requirement indicates that the simulated rudder circuit fault type is a simulated rudder circuit gap fault, the simulation host controls the torque motor to output a hinge torque equivalent to the rudder surface load, and controls the excitation current of the electromagnetic clutch to reduce the locking degree of the output shaft of the servo and the rotating shaft of the physical rudder surface. The output shaft of the servo and the rotating shaft of the physical rudder surface maintain a synchronous rotation trend, but there is a deviation in the rotation angle.

[0020] A further technical solution is that initialization of the semi-physical simulation system includes:

[0021] The servo, encoder and torque motor in the rudder loop simulation device are initialized respectively, and the world coordinate system of the three-axis turntable and the sensor coordinate system of the attitude sensor are coordinated to perform zero-position initialization operation, so that the actual attitude values ​​measured by the attitude sensor in the three directions of the sensor coordinate system after the zero-position initialization are all 0 within the error range.

[0022] A further technical solution is to respectively complete initialization operations on the servo, encoder and torque motor in the rudder circuit simulation device, including:

[0023] After the electromagnetic clutch is controlled to be released or powered off so that the output shaft of the servo and the rotating shaft of the physical rudder surface are released, the position of the output shaft of the servo is controlled to return to zero, and the position of the output shaft of the torque motor is controlled to return to zero and the output torque is zero; after completing the initialization operation of the servo and the torque motor, the electromagnetic clutch is controlled to be powered on and the excitation current is adjusted to lock the output shaft of the servo and the rotating shaft of the physical rudder surface, and the encoder is controlled to set the actual measured value of the current angular position of the rotating shaft of the physical rudder surface to zero, thereby completing the initialization operation of the servo, encoder and torque motor in the rudder circuit simulation device respectively.

[0024] A further technical solution is that when the attitude sensor is fixed on the table of the three-axis turntable, the y-axis direction of the sensor coordinate system of the attitude sensor is consistent with the Y-axis direction of the world coordinate system; the world coordinate system of the three-axis turntable and the sensor coordinate system of the attitude sensor are coordinated to perform zero position initialization operations, including:

[0025] Control the X axis of the three-axis turntable to rotate arccos(θ y / g) makes the Y-axis direction of the three-axis turntable consistent with the direction of gravity acceleration, where θ y is the component in the y-axis direction measured by the attitude sensor, and g is the gravitational acceleration; then the X-axis of the three-axis turntable is controlled to rotate 90° counterclockwise to complete the zero position initialization operation of the X-axis of the three-axis turntable;

[0026] After completing the zero position initialization operation of the X-axis of the three-axis turntable, according to the component θ of the X-axis direction measured by the attitude sensor x and the z-axis component θ z The positive and negative signs of control the Y-axis rotation of the three-axis turntable to complete the zero position initialization operation of the Y-axis of the three-axis turntable;

[0027] After completing the zero position initialization operation of the X-axis and Y-axis of the three-axis turntable, the Z-axis of the three-axis turntable is controlled to rotate until the component of the z-axis direction of the attitude sensor is 0 within the error range, thereby completing the zero position initialization operation of the Z-axis of the three-axis turntable.

[0028] A further technical solution is to use the component θ in the x-axis direction measured by the attitude sensor x and the z-axis component θ z The positive and negative signs of the control of the Y-axis rotation of the three-axis turntable include:

[0029] When the x-axis component θ measured by the attitude sensor x >0 and the measured component θ in the z-axis direction z When <0, the Y axis of the three-axis turntable is controlled to rotate arccos(|θ z | / g);

[0030] When the x-axis component θ measured by the attitude sensor x <0 and the measured component θ in the z-axis direction z When <0, the Y axis of the three-axis turntable is controlled to rotate arccos(|θ z | / g);

[0031] When the x-axis component θ measured by the attitude sensor x >0 and the measured component θ in the z-axis direction z >0, the Y axis of the three-axis turntable rotates counterclockwise arccos(|θ z| / g)+90°;

[0032] When the x-axis component θ measured by the attitude sensor x <0 and the measured component θ in the z-axis direction z >0, the Y axis of the three-axis turntable rotates clockwise arccos(|θ z | / g)+90°.

[0033] A further technical solution is to control the corresponding axis of the three-axis turntable to rotate at a constant angular velocity r0 for a duration of θ / r0 and at a rotation angle θ during the coordinated zero-position initialization operation of the world coordinate system of the three-axis turntable and the sensor coordinate system of the attitude sensor.

[0034] A further technical solution is that the working process of the semi-physical simulation system also includes:

[0035] At least one component of the rudder loop simulation device and the attitude measurement simulation device is disassembled and replaced, and / or the simulation model built in the simulation host is replaced to perform joint fault simulation of the rudder loop and attitude measurement of different aircraft systems.

[0036] A further technical solution is that the working process of the semi-physical simulation system further includes:

[0037] An additional sensor is arranged on at least one component of the rudder loop simulation device and the attitude measurement simulation device, and a communication connection is established with the simulation host. The simulation host is also used to collect additional data through the additional sensor during the process of realizing the joint fault simulation of the rudder loop and attitude measurement of the aircraft system; wherein the additional sensor includes at least one of a vibration sensor, a strain gauge, a current sensor and a temperature sensor.

[0038] The beneficial technical effects of this application are:

[0039] The present application discloses a semi-physical simulation system for realizing joint fault simulation of rudder circuit and attitude measurement. The semi-physical simulation system analyzes the typical fault generation mechanism of the key components of the aircraft rudder circuit and attitude measurement, selects different programmable components to build two physical devices, namely, the rudder circuit simulation device and the attitude measurement simulation device, and combines the software simulation model in the simulation host to form a control closed loop to form a semi-physical simulation system. The semi-physical simulation system can be used to coordinate and cooperate with different faults to realize the joint simulation and simulation of typical faults of the aircraft rudder circuit and attitude measurement. The semi-physical simulation system uses the rudder circuit and attitude measurement component entities to perform high-dynamic fault simulation, load loading, simulation and data collection of the rudder circuit and attitude sensor for high-dynamic characteristics aircraft through program control, avoiding the modeling correction problem. The semi-physical simulation system can meet the growing fault simulation requirements such as high fidelity, high real-time, multi-dimensionality, and component replaceability in the rudder circuit and attitude sensor fault simulation.

[0040] Before application, the semi-physical simulation system can quickly complete the initialization operation to improve the simulation accuracy. After actual measurement, the command sending, component response, data acquisition and simulation rate of the semi-physical simulation system are greater than 200Hz. The semi-physical simulation and loading system of the rudder circuit fault can withstand an axial load greater than 50Nm, and can support the replacement of components according to different models. It can be promoted to the fault simulation and simulation of the stabilizer and control surfaces of various carriers, and has broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a system architecture diagram of a semi-physical simulation system according to an embodiment of the present application.

[0042] Figure 2 This is a workflow diagram of a semi-physical simulation system according to an embodiment of the present application.

[0043] Figure 3 This is a schematic diagram of the coordinated zeroing of the X-axis of the three-axis turntable and the attitude sensor in one embodiment of the present application.

[0044] Figure 4 This is a schematic diagram of the coordinated zeroing of the Y-axis of the three-axis turntable and the attitude sensor in one embodiment of the present application.

[0045] Figure 5 It is a schematic diagram of the position of the posture sensor on the three-axis turntable in one embodiment of the present application. DETAILED DESCRIPTION

[0046] The specific implementation of the present application is further described below in conjunction with the accompanying drawings.

[0047] This application discloses a semi-physical simulation system for realizing joint fault simulation of rudder loop and attitude measurement. Please refer to Figure 1 As shown in the system structure diagram, the semi-physical simulation system includes a rudder loop simulation device, an attitude measurement simulation device and a simulation host 8, wherein:

[0048] The rudder circuit simulation device includes a servo 1, an electromagnetic clutch 2, a physical rudder surface 3, an encoder 4 and a torque motor 5. One end of the electromagnetic clutch 2 is connected to the output shaft of the servo 1, the other end of the electromagnetic clutch 2 is connected to one end of the rotating shaft of the physical rudder surface 3, and the other end of the rotating shaft of the physical rudder surface 3 is connected to the output shaft of the torque motor 5. The encoder 4 is used to collect the measured value of the deflection position of the rotating shaft of the physical rudder surface 3, such as Figure 1 As shown, it can generally be mounted on the rotation axis of the physical control surface 3.

[0049] The attitude measurement simulation device comprises an attitude sensor 6 and a three-axis turntable 7, wherein the attitude sensor 6 is fixed on the table of the three-axis turntable 7. In actual implementation, the attitude sensor 6 is an inertial measurement unit IMU commonly used in aircraft systems.

[0050] The simulation host 8 can be constructed by one or more of computer equipment, server, industrial computer, and has data processing and hardware communication functions. The simulation host 8 establishes communication connections with the components in the rudder circuit simulation device and the attitude measurement simulation device, including establishing communication connections with the servo 1, electromagnetic clutch 2, encoder 4, torque motor 5, attitude sensor 6 and three-axis turntable 7. The communication protocol used by the simulation host 8 and the components in the rudder circuit simulation device and the attitude measurement simulation device is customized according to the actual situation. For example, the common RS422 communication is used. Figure 1 shown.

[0051] The simulation host 8 can control the actions of the relevant components of the rudder circuit simulation device and the attitude measurement simulation device through the communication connection with the rudder circuit simulation device and the attitude measurement simulation device, and can also obtain data from the relevant components of the rudder circuit simulation device and the attitude measurement simulation device. The simulation host 8 is built with a simulation model of the aircraft system except the rudder circuit and the attitude sensor, and the simulation model includes the integrated dynamics, kinematics, atmosphere, aerodynamics, guidance, navigation and engine system models of the aircraft system.

[0052] Based on Figure 1 The semi-physical simulation system shown can realize the joint fault simulation of the rudder circuit and attitude measurement. The working process of the semi-physical simulation system includes the following contents, please refer to Figure 2 The flowchart shown:

[0053] After completing the initialization of the semi-physical simulation system, the simulation host 8 connects the data obtained from the rudder loop simulation device and the attitude measurement simulation device to the simulation model, thereby forming a control closed loop of the entire aircraft system, and then performs real-time simulation based on the constructed control closed loop of the aircraft system to generate rudder surface deflection instructions and attitude control instructions. The specific simulation model establishment method and simulation process, as well as the generation of rudder surface deflection instructions and attitude control instructions can refer to the existing aircraft software simulation method.

[0054] The simulation host 8 controls the steering gear to drive the physical steering surface to rotate according to the steering surface deflection instruction, including sending the steering surface deflection instruction to the steering gear 1 through the communication link. The steering gear 1 drives the physical steering surface 3 to swing and deflect according to the steering surface deflection instruction. The physical steering surface 3 is not only used to simulate the inherent load of the physical steering surface 3 when it is unloaded, but also can better display the movement state of the physical steering surface 3 in real time during the simulation and emulation process. In addition, the simulation host 8 controls the three-axis turntable 7 to drive the attitude sensor 6 to move according to the attitude control instruction. The barkor sends the attitude control instruction to the three-axis turntable 7 through the communication link. The three-axis turntable 7 performs three-axis rotation according to the attitude control instruction to simulate the attitude movement of the pitch, roll and yaw angle of the aircraft.

[0055] For the attitude measurement simulation device, in the process of the simulation host 8 driving the three-axis turntable 7 to drive the attitude sensor 6 to move, the attitude sensor 6 installed on the three-axis turntable 7 measures the Euler angle in real time to obtain the attitude measured value, and uploads it to the simulation host 8 through the communication link. When there is no need to simulate the attitude measurement fault, the simulation host 8 directly connects the attitude measured value of the attitude sensor 6 obtained to the simulation model, so that the control closed loop of the aircraft system obtains the correct attitude measured value for the next real-time simulation. When it is necessary to simulate the attitude measurement fault, the simulation host 8 modifies the attitude measured value uploaded by the attitude sensor 6 according to the attitude measurement fault simulation requirements and then connects it to the simulation model, that is, injects a fault into the attitude measured value and then connects it to the simulation model, so that the control closed loop of the aircraft system obtains the attitude measured value with the fault for the next real-time simulation, thereby realizing the simulation of the attitude measurement fault. The modification method of the attitude measured value under different attitude measurement fault simulation requirements can be pre-customized and configured.

[0056] For the rudder circuit simulation device, in the process that the simulation host 8 drives the servo 1 to drive the physical rudder surface 3 to rotate, the simulation host 8 controls the electromagnetic clutch 2 and the torque motor 5 according to the rudder circuit fault simulation requirements, including:

[0057] (1) When the rudder circuit fault simulation requirement indicates that the simulated rudder circuit has no fault, the simulation host 8 applies the maximum excitation current to the electromagnetic clutch 2 so that the output shaft of the servo 1 and the rotating shaft of the physical rudder surface 3 are completely locked and rotate synchronously, and controls the torque motor 5 to output a hinge torque equivalent to the required simulated rudder surface load.

[0058] When the rudder circuit fault simulation requirement indicates that the simulated rudder circuit has a fault, the simulation host 8 controls the output torque or output deflection angle of the torque motor 5 to adjust the rudder surface load of the physical rudder surface 3 according to the rudder circuit fault simulation requirement indicating the simulated rudder circuit fault type, and controls the excitation current of the electromagnetic clutch 2 to adjust the degree of locking between the output shaft of the servo 1 and the rotating shaft of the physical rudder surface 3. When the excitation current applied to the electromagnetic clutch 2 is larger, the degree of locking between the output shaft of the servo 1 and the rotating shaft of the physical rudder surface 3 is higher, and the rotation between the output shaft of the servo 1 and the rotating shaft of the physical rudder surface 3 is more synchronized. According to actual needs, the rudder circuit fault types that can be simulated by the system include rudder circuit stuck fault, rudder circuit defect fault, rudder circuit loose fault, and rudder circuit gap fault:

[0059] (2) The rudder circuit stuck fault is a fault type in which the rudder surface is instantly stuck at a certain angle due to the stuck fault on the basis of normal flight without faults. Therefore, when the rudder circuit fault simulation requirement indicates that the simulated rudder circuit fault type is a rudder circuit stuck fault, the simulation host 8 applies the maximum excitation current to the electromagnetic clutch 2 to make the output shaft of the servo 1 and the rotating shaft of the physical rudder surface 3 completely locked and rotate synchronously, and controls the torque motor 5 to maintain the stuck angle with the maximum torque.

[0060] In this case, the servo 1 continues to receive the control surface deflection command, but because the output shaft of the servo 1 and the rotating shaft of the physical control surface 3 are completely locked and blocked by the torque motor 5, the servo 1 is blocked. Similarly, the physical control surface 3 is also stuck and no longer moves.

[0061] (3) Rudder circuit defect fault is a fault in which the load on the rudder surface shaft is reduced due to a defect in the rudder surface on the basis of normal flight without faults. In this case, when the rudder circuit fault simulation requirement indicates that the simulated rudder circuit fault type is a rudder circuit defect fault, the simulation host 8 applies the maximum excitation current to the electromagnetic clutch 2 to make the output shaft of the servo 1 and the shaft of the physical rudder surface 3 completely locked and rotate synchronously, and controls the torque motor to output a hinge torque equivalent to the rudder surface load defect, which is smaller than the hinge torque equivalent to the rudder surface load under normal flight without faults.

[0062] (4) The rudder circuit loose floating fault is a fault condition in which the output shaft of the servo is momentarily unloaded due to the loose floating of the rudder surface, on the basis of normal flight without faults. In this case, when the rudder circuit fault simulation requirement indicates that the simulated rudder circuit fault type is a rudder circuit loose floating fault, the simulation host 8 controls the torque motor 5 to output a normal output torque of the hinge torque equivalent to the rudder surface load, and controls the electromagnetic clutch 2 to be instantly released or powered off so that the output shaft of the servo and the rotating shaft of the physical rudder surface are released, and no longer completely locked and rotated synchronously.

[0063] (5) Rudder circuit clearance fault is a fault condition caused by the motion clearance between the servo output shaft and the rudder surface rotating shaft on the basis of normal flight without fault. In this case, when the rudder circuit fault simulation requirement indicates that the simulated rudder circuit fault type is a simulated rudder circuit clearance fault, the simulation host 8 controls the torque motor 5 to output a normal output torque of the hinge torque equivalent to the rudder surface load, and controls the excitation current of the electromagnetic clutch 2 to reduce the locking degree of the servo output shaft and the rotating shaft of the physical rudder surface, so that the output shaft of the servo 1 and the rotating shaft of the physical rudder surface 3 maintain a synchronous rotation trend but there is a deviation in the rotation angle.

[0064] In the above-mentioned various situations, whether simulating normal flight without faults or simulating various rudder circuit faults, the simulation host 8 obtains the measured values ​​of the built-in sensors of the servo 1, the measured values ​​of the deflection position of the encoder 4, and the measured values ​​of the built-in sensors of the torque motor 5, and then connects to the simulation model for the next real-time simulation. Among them, the obtained measured values ​​of the built-in sensors of the servo 1 include the current measured values ​​obtained by the built-in current sensor of the servo 1 and the deflection measured values ​​obtained by the built-in position sensor of the servo 1. The obtained measured values ​​of the built-in sensors of the torque motor 5 include the torque measured values ​​obtained by the built-in torque sensor of the torque motor 5 and the deflection measured values ​​obtained by the built-in position sensor of the torque motor 5.

[0065] In each real-time simulation process, the attitude measurement fault and the rudder circuit fault can be jointly simulated, that is, the data of the rudder circuit simulation device is connected to the simulation model under the condition of simulating the corresponding rudder circuit fault, and the attitude measured value is injected into the simulation model after the fault. Or in actual application, only the attitude measurement fault can be simulated, that is, the data of the rudder circuit simulation device is connected to the simulation model under the condition of maintaining normal flight without fault, and the attitude measured value is injected into the simulation model after the fault. Or only the rudder circuit fault can be simulated, that is, the data of the rudder circuit simulation device is connected to the simulation model under the condition of simulating the corresponding rudder circuit fault, and the attitude measured value is directly connected to the simulation model. In either case, the data of the rudder circuit simulation device and the data of the attitude measurement simulation device are connected to the simulation model to form a control closed loop for the next real-time simulation, and new rudder surface deflection instructions and attitude control instructions are obtained to control the rudder circuit simulation device and the attitude measurement simulation device, and this cycle is repeated.

[0066] In the above working process of the semi-physical simulation system, as mentioned above, it is necessary to first initialize the semi-physical simulation system to ensure the accuracy of the entire simulation process, including: completing the initialization operation of the servo 1, encoder 4, and torque motor 5 in the rudder loop simulation device respectively, thereby completing the initialization of the rudder loop simulation device. Also, the world coordinate system of the three-axis turntable 7 and the sensor coordinate system of the attitude sensor 6 are coordinated to perform zero-position initialization operations, so that the attitude measured values ​​in the three directions of the sensor coordinate system measured by the attitude sensor after the zero-position initialization are all 0 within the error range, thereby completing the initialization of the attitude measurement simulation device. They are introduced as follows:

[0067] (1) Initialization of the rudder circuit simulator

[0068] First, the electromagnetic clutch 2 is controlled to be released or powered off to release the output shaft of the servo 1 and the rotating shaft of the physical control surface 3 to ensure that the output shaft of the servo 1 and the rotating shaft of the physical control surface 3 are not locked.

[0069] Then the simulation host 8 sends a zeroing instruction to the steering gear 1 and the torque motor 5 to control the position of the output shaft of the steering gear 1 to return to zero, and controls the position of the output shaft of the torque motor 5 to return to zero and the output torque to zero.

[0070] After the steering gear 1 and the torque motor 5 have been reset to zero, the initialization operation of the steering gear and the torque motor is completed, and the electromagnetic clutch 2 is controlled to be powered on and the excitation current is adjusted to lock the output shaft of the steering gear 1 and the rotating shaft of the physical control surface 3.

[0071] After the electromagnetic clutch 2 is locked, the simulation host 8 sends a reset command to the encoder 4, controlling the encoder 4 to set the actual measured value of the current angular position of the rotating shaft of the physical control surface 3 to zero.

[0072] Through the above process, the initialization operations of the servo, encoder and torque motor in the rudder circuit simulation device are completed respectively.

[0073] (2) Initialization of the attitude measurement simulation device

[0074] like Figure 1 As shown, when the attitude sensor 6 is fixed on the table of the three-axis turntable 7, the y-axis direction of the sensor coordinate system used by the attitude sensor 6 is consistent with the Y-axis direction of the world coordinate system used by the three-axis turntable 7. According to the characteristics of the three-axis turntable 7, the X-axis, Y-axis and Z-axis of the world coordinate system where the three-axis turntable is located need to cooperate with the x-axis, y-axis and z-axis of the sensor coordinate system of the attitude sensor 6 to perform zero position initialization operation, and this cooperative initialization can be divided into three parts, namely, the initialization of the X-axis, Y-axis and Z-axis respectively, including the following steps:

[0075] First, the X-axis of the three-axis turntable is initialized. The schematic diagram of the method of zeroing the X-axis of the three-axis turntable and the attitude sensor 6 system is as follows: Figure 3 When the three-axis turntable is not initialized to zero, the Y axis of the three-axis turntable is consistent with the Y axis of the attitude sensor 6, and the X axis and Z axis of the three-axis turntable are often inconsistent with the x axis and z axis of the attitude sensor 6, as shown in FIG. Figure 3 As shown in (a) in the figure. In the current position where the three-axis turntable has not been initialized to zero, as shown in Figure 3 As shown in (b), the component of the y-axis direction measured by the attitude sensor is θ y , the gravitational acceleration through the origin of the sensor coordinate system is g, and the angle between the y-axis direction of the attitude sensor and the gravitational acceleration direction in space is arccos(θ y / g), thus controlling the X-axis of the three-axis turntable to rotate arccos(θ y / g) can make the Y-axis direction of the three-axis turntable consistent with the direction of gravity acceleration, so that the three-axis turntable reaches Figure 3 Then, the X-axis of the three-axis turntable is controlled to rotate 90° counterclockwise to complete the zero position initialization operation of the X-axis of the three-axis turntable, that is, to reach the state (c). Figure 3 The state of (d) in .

[0076] Then, the Y axis of the three-axis turntable is initialized, and the schematic diagram of the method of zeroing the Y axis of the three-axis turntable and the attitude sensor 6 system is as follows: Figure 4 As shown, after completing the zero position initialization operation of the X-axis of the three-axis turntable, when the three-axis turntable has not performed the Y-axis zero initialization, the Y-axis of the three-axis turntable and the Y-axis of the attitude sensor 6 are in the same direction, and the X-axis of the three-axis turntable and the x-axis of the attitude sensor 6 are not in the same direction. The purpose of initializing the Y-axis of the three-axis turntable is to make the x-axis direction of the attitude sensor 6 consistent with the direction of the X-axis of the three-axis turntable, the z-axis direction of the attitude sensor 6 consistent with the Z-axis of the three-axis turntable, that is, the direction of gravity acceleration, and the y-axis direction of the attitude sensor 6 consistent with the Y-axis direction of the three-axis turntable, as shown in FIG. Figure 4 At the same time, when the three-axis turntable is not initialized to zero on the Y axis, the possible position distribution of the attitude sensor 6 on the Y axis of the three-axis turntable is as follows: Figure 5 As shown in the four cases, Figure 5 It can be seen that when the attitude sensor 6 is at different positions, the positive and negative signs of the gravitational acceleration components measured by the x-axis and z-axis of the attitude sensor 6 are different. Therefore, according to the x-axis component θ measured by the attitude sensor x and the z-axis component θ zThe positive and negative signs of can determine the position distribution of the attitude sensor 6 on the Y-axis of the three-axis turntable, and then the Y-axis of the three-axis turntable can be controlled to rotate at a corresponding angle to complete the zero position initialization operation of the Y-axis of the three-axis turntable, including the following four situations:

[0077] (a) When the x-axis component θ measured by the attitude sensor x >0 and the measured component θ in the z-axis direction z When <0, the Y axis of the three-axis turntable is controlled to rotate arccos(|θ z | / g), |θ z | is the component θ in the z-axis direction z Model.

[0078] (b) When the x-axis component θ measured by the attitude sensor x <0 and the measured component θ in the z-axis direction z When <0, the Y axis of the three-axis turntable is controlled to rotate arccos(|θ z | / g).

[0079] (c) When the x-axis component θ measured by the attitude sensor x >0 and the measured component θ in the z-axis direction z >0, the Y axis of the three-axis turntable rotates counterclockwise arccos(|θ z | / g)+90°.

[0080] (d) When the x-axis component θ measured by the attitude sensor x <0 and the measured component θ in the z-axis direction z >0, the Y axis of the three-axis turntable rotates clockwise arccos(|θ z | / g)+90°.

[0081] At this time, the initialization of the X-axis of the three-axis turntable is completed, the x-axis direction of the attitude sensor 6 is consistent with the X-axis direction of the three-axis turntable, the z-axis direction of the attitude sensor 6 is consistent with the Z-axis of the three-axis turntable, that is, the direction of gravity acceleration, and the y-axis direction of the attitude sensor 6 is consistent with the Y-axis direction of the three-axis turntable.

[0082] Finally, after completing the zero position initialization operation of the X-axis and Y-axis of the three-axis turntable, the Z-axis of the three-axis turntable is initialized. After completing the zero position initialization of the X-axis and Y-axis of the three-axis turntable, the Euler angles measured by the x-axis and y-axis of the attitude sensor 6 are both within the error range of 0, indicating that Figure 4The three-axis positions of the three-axis turntable shown in the schematic diagram (b) satisfy the zero position of the x-axis and y-axis Euler angles of the attitude sensor 6. Since the z-axis Euler angle of the attitude sensor 6 is still not at zero at this time, when the Euler angle measured by the z-axis of the attitude sensor 6 is |Zo|, the Z-axis of the three-axis turntable is controlled to rotate |Zo| degrees until the component of the z-axis direction of the attitude sensor is 0 within the error range, and the zero position initialization operation of the Z-axis of the three-axis turntable is completed.

[0083] The three-axis zeroing of the three-axis turntable can be completed through the above three processes. After the zeroing initialization through the above process, the Euler angles measured by the x-axis, y-axis and z-axis of the attitude sensor 6 are all within the error range and are 0.

[0084] During the process of coordinating the zero-position initialization operation of the world coordinate system of the three-axis turntable and the sensor coordinate system of the attitude sensor, no matter which axis of the three-axis turntable, X-axis, Y-axis, or Z-axis, is controlled to rotate, the corresponding axis of the three-axis turntable is controlled to rotate at a constant angular velocity r0 for a time length θ / r0 and at a rotation angle θ, thereby driving the three-axis state to rotate at a uniform speed and with high precision by controlling the angular velocity.

[0085] In addition, the semi-physical simulation system can also disassemble and replace at least one component in the rudder circuit simulation device and the attitude measurement simulation device, and / or replace the simulation model built in the simulation host, so as to perform joint fault simulation of the rudder circuit and attitude measurement of different aircraft systems. For example, the steering gear 1 and the torque motor 5 can be disassembled and replaced with servo motors used in the equipment, etc. This approach enables the semi-physical simulation system to support the replacement of components according to different models, and can be promoted to the fault simulation and simulation of the stabilizers and control surfaces of various carriers. The disassembly and replacement method makes the semi-physical simulation system have good expansibility and practicality, and has broad application prospects.

[0086] In addition, during the application of the semi-physical simulation system, an additional sensor may be provided on at least one of the rudder loop simulation device and the attitude measurement simulation device, and a communication connection may be established with the simulation host, wherein the additional sensor includes at least one of a vibration sensor, a strain gauge, a current sensor, and a temperature sensor. The simulation host 8 is also used to collect additional data through the additional sensor during the process of realizing the joint fault simulation of the rudder loop and attitude measurement of the aircraft system, so that more parameters can be measured to support different data acquisition requirements, so that the functions of the semi-physical simulation system have good scalability.

[0087] In addition, the simulation host, servo, torque motor and other equipment used in this application all support high real-time simulation and signal output of less than 5ms. The support of these high real-time hardware devices enables the semi-physical simulation system of this application to achieve high real-time loading and fault simulation through program control, which not only makes the simulated faults have a higher rate of change, but also makes the loading and simulation have a higher speed, thereby meeting the high real-time requirements for aircraft systems in the aerospace field.

[0088] The above is only a preferred embodiment of the present application, and the present application is not limited to the above embodiments. It is understood that other improvements and changes directly derived or associated by those skilled in the art without departing from the spirit and concept of the present application should be considered to be included in the protection scope of the present application.

Claims

1. A semi-physical simulation system for realizing joint fault simulation of rudder loop and attitude measurement, characterized in that: The semi-physical simulation system includes a simulation host, a rudder loop simulation device and an attitude measurement simulation device: The rudder circuit simulation device comprises a servo, an electromagnetic clutch, a physical rudder surface, an encoder and a torque motor, one end of the electromagnetic clutch is connected to the output shaft of the servo, the other end of the electromagnetic clutch is connected to one end of the rotating shaft of the physical rudder surface, the other end of the rotating shaft of the physical rudder surface is connected to the output shaft of the torque motor, and the encoder is used to collect the measured value of the deflection position of the rotating shaft of the physical rudder surface; The posture measurement simulation device comprises a three-axis turntable and a posture sensor, wherein the posture sensor is fixed on the table of the three-axis turntable; The simulation host establishes communication connections with the steering gear, electromagnetic clutch, encoder, torque motor, three-axis turntable and attitude sensor respectively, and the simulation model of the aircraft system except the rudder circuit and attitude sensor is built in the simulation host; The working process of the semi-physical simulation system includes: After completing the initialization of the semi-physical simulation system, the simulation host connects the data obtained from the rudder loop simulation device and the attitude measurement simulation device to the simulation model to form a control closed loop of the aircraft system, generates a rudder deflection instruction and an attitude control instruction based on the constructed control closed loop of the aircraft system, and the simulation host controls the servo to drive the physical rudder to rotate according to the rudder deflection instruction, and controls the three-axis turntable to drive the attitude sensor to move according to the attitude control instruction; In the process of the simulation host driving the posture sensor to move, the simulation host obtains the posture measured value of the posture sensor, and directly connects the posture measured value to the simulation model, or, according to the posture measurement fault simulation requirements, modifies the posture measured value and then connects it to the simulation model; In the process of the simulation host driving the physical rudder to rotate, the simulation host controls the electromagnetic clutch and the torque motor according to the rudder circuit fault simulation requirements, and obtains the measured value of the built-in sensor of the servo, the measured value of the angular position of the encoder, and the measured value of the built-in sensor of the torque motor, and then connects them to the simulation model; The simulation host controls the electromagnetic clutch and the torque motor according to the rudder circuit fault simulation requirement, including: when the rudder circuit fault simulation requirement indicates that the simulated rudder circuit has no fault, the simulation host applies the maximum excitation current to the electromagnetic clutch to make the output shaft of the servo and the rotating shaft of the physical rudder surface completely locked and rotate synchronously, and controls the torque motor to output a hinge torque equivalent to the rudder surface load; the simulation host controls the output torque or output deflection angle of the torque motor to adjust the rudder surface load of the physical rudder surface according to the rudder circuit fault type simulated by the rudder circuit fault simulation requirement, and controls the excitation current of the electromagnetic clutch to adjust the locking degree between the output shaft of the servo and the rotating shaft of the physical rudder surface, the greater the excitation current applied to the electromagnetic clutch, the higher the locking degree between the output shaft of the servo and the rotating shaft of the physical rudder surface, and the more synchronized the rotation between the output shaft of the servo and the rotating shaft of the physical rudder surface; When the rudder circuit fault simulation requirement indicates that the simulated rudder circuit fault type is a rudder circuit stuck fault, the simulation host applies a maximum excitation current to the electromagnetic clutch to make the output shaft of the servo and the rotating shaft of the physical rudder surface completely locked and rotate synchronously, and controls the torque motor to maintain the stuck angle at the maximum torque; When the rudder circuit fault simulation requirement indicates that the simulated rudder circuit fault type is a rudder circuit defect fault, the simulation host applies a maximum excitation current to the electromagnetic clutch to make the output shaft of the servo and the rotating shaft of the physical rudder surface completely locked and rotate synchronously, and controls the torque motor to output a hinge torque equivalent to the rudder surface load defect; When the rudder circuit fault simulation requirement indicates that the simulated rudder circuit fault type is a rudder circuit loose and floating fault, the simulation host controls the torque motor to output a hinge torque equivalent to the rudder surface load, and controls the electromagnetic clutch to release or cut off power instantly to release the output shaft of the servo and the rotating shaft of the physical rudder surface; When the rudder circuit fault simulation requirement indicates that the simulated rudder circuit fault type is a simulated rudder circuit gap fault, the simulation host controls the torque motor to output a hinge torque equivalent to the rudder surface load, and controls the excitation current of the electromagnetic clutch to reduce the locking degree of the output shaft of the servo and the rotating shaft of the physical rudder surface. The output shaft of the servo and the rotating shaft of the physical rudder surface maintain a synchronous rotation trend but there is a deviation in the rotation angle.

2. The semi-physical simulation system according to claim 1, characterized in that: Initializing the semi-physical simulation system includes: The servo, encoder and torque motor in the rudder loop simulation device are initialized respectively, and the world coordinate system of the three-axis turntable and the sensor coordinate system of the attitude sensor are coordinated to perform zero-position initialization operation, so that the actual attitude values ​​measured by the attitude sensor in the three directions of the sensor coordinate system after the zero-position initialization are all 0 within the error range.

3. The semi-physical simulation system according to claim 2, characterized in that: The initialization operations for the servo, encoder, and torque motor in the rudder circuit simulation device include: After the electromagnetic clutch is controlled to be released or powered off so that the output shaft of the servo and the rotating shaft of the physical rudder surface are released, the position of the output shaft of the servo is controlled to return to zero, and the position of the output shaft of the torque motor is controlled to return to zero and the output torque is zero; after completing the initialization operation of the servo and the torque motor, the electromagnetic clutch is controlled to be powered on and the excitation current is adjusted so that the output shaft of the servo and the rotating shaft of the physical rudder surface are locked, and the encoder is controlled to set the current measured value of the angular position of the rotating shaft of the physical rudder surface to zero, thereby completing the initialization operation of the servo, encoder and torque motor in the rudder circuit simulation device respectively.

4. The semi-physical simulation system according to claim 2, characterized in that: When the attitude sensor is fixed on the table of the three-axis turntable, the y-axis direction of the sensor coordinate system of the attitude sensor is consistent with the Y-axis direction of the world coordinate system; the world coordinate system of the three-axis turntable and the sensor coordinate system of the attitude sensor are coordinated to perform zero position initialization operation, including: Control the X-axis of the three-axis turntable to rotate clockwise Make the Y-axis direction of the three-axis turntable consistent with the direction of gravity acceleration, where: is the component in the y-axis direction measured by the attitude sensor, is the acceleration of gravity; then the X-axis of the three-axis turntable is controlled to rotate 90° counterclockwise to complete the zero position initialization operation of the X-axis of the three-axis turntable; After completing the zero position initialization operation of the X-axis of the three-axis turntable, according to the component of the X-axis direction measured by the attitude sensor and the z-axis direction The positive and negative signs of control the Y-axis rotation of the three-axis turntable to complete the zero position initialization operation of the Y-axis of the three-axis turntable; After completing the zero position initialization operation on the X-axis and Y-axis of the three-axis turntable, the Z-axis of the three-axis turntable is controlled to rotate until the component of the z-axis direction of the posture sensor is 0 within the error range, thereby completing the zero position initialization operation on the Z-axis of the three-axis turntable.

5. The semi-physical simulation system according to claim 4, characterized in that: According to the x-axis component measured by the attitude sensor and the z-axis direction The positive and negative signs of the control of the Y-axis rotation of the three-axis turntable include: When the x-axis component measured by the attitude sensor And the measured component in the z-axis direction When the Y axis of the three-axis turntable is controlled to rotate clockwise ; When the x-axis component measured by the attitude sensor And the measured component in the z-axis direction When the Y axis of the three-axis turntable rotates counterclockwise ; When the x-axis component measured by the attitude sensor And the measured component in the z-axis direction When the Y axis of the three-axis turntable rotates counterclockwise ; When the x-axis component measured by the attitude sensor And the measured component in the z-axis direction When the Y axis of the three-axis turntable is controlled to rotate clockwise .

6. The semi-physical simulation system according to claim 4, characterized in that: In the process of coordinating the zero-position initialization operation between the world coordinate system of the three-axis turntable and the sensor coordinate system of the attitude sensor, the corresponding axis of the three-axis turntable is controlled to move at a constant angular velocity. Spin duration By rotation angle .

7. The semi-physical simulation system according to claim 1, characterized in that: The working process of the semi-physical simulation system also includes: At least one component of the rudder loop simulation device and the attitude measurement simulation device is disassembled and replaced, and / or the simulation model built in the simulation host is replaced to perform joint fault simulation of the rudder loop and attitude measurement of different aircraft systems.

8. The semi-physical simulation system according to claim 1, characterized in that: The working process of the semi-physical simulation system also includes: An additional sensor is arranged on at least one component of the rudder loop simulation device and the attitude measurement simulation device and establishes a communication connection with the simulation host. The simulation host is also used to collect additional data through the additional sensor during the process of realizing the joint fault simulation of the rudder loop and attitude measurement of the aircraft system; wherein the additional sensor includes at least one of a vibration sensor, a strain gauge, a current sensor and a temperature sensor.

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