Airborne controller software simulation test system and test method thereof

Abstract

The invention provides an airborne controller software simulation test system and a test method thereof. The airborne controller software simulation test system comprises a comprehensive test control system, a controller unit and a test machine unit, and the comprehensive test control system sends a control instruction to the controller unit; the controller unit receives a control instruction of the comprehensive test control system, performs response and calculation, generates a corresponding control signal, and sends the corresponding control signal to the test machine unit; the test machine unit receives a control signal of the controller unit, responds to and calculates a controlled object according to the control signal, generates a signal and transmits the signal back to the controller unit to form a closed-loop system; a target machine environment can be quickly established, closed-loop control is realized, a pure software simulation test system is adopted, and various functions of acquisition, output, core logic calculation and the like of the controller unit can be tested.

Description

Technical Field

[0001] The present invention relates to the technical field of civil aviation software testing, and in particular to an airborne controller software simulation testing system and a testing method thereof. Background Art

[0002] As the control core of the aircraft system, the airborne controller is the most important type of airborne electronic equipment. As a typical representative of high-security embedded software, its development process must strictly meet airworthiness requirements and related standards (such as the DO-178 standard issued by the American RTCA Association). In recent years, with the gradual maturity of the application of model-based system engineering technology (MBSE) in the field of airborne software development and the vigorous development of corresponding tool software, the use of model development tools that have passed DO-178 and related standards airworthiness certification for airborne software development has gradually become the mainstream mode in the field of airborne software development to reduce R&D costs and shorten R&D cycles. Taking control system software as an example, the current mainstream model-based development tool is ANSYS's SCADE Suite tool. The tool builds a control logic model and converts it into C language, which is integrated with the handwritten underlying driver code and compiled into a binary file and burned into the target machine.

[0003] The developed airborne software needs to be tested at the code level, function level and other analysis and verification work in accordance with airworthiness requirements. At present, there are usually two types of functional level tests for airborne software: one is to directly test the target machine, that is, compile the software into executable code and burn it into the target machine environment, and build a complete set of integrated test environment for hardware in the loop (Hardware In Loop, HIL) testing. The other is to test the host machine before the target machine test, that is, to build a simulation environment on the PC to carry out model in the loop (Model lIn-Loop, MIL).

[0004] The existing airborne controller software simulation test system and test method thereof have the following problems:

[0005] (1) The first method mentioned above can test the software functions to the greatest extent to meet the design requirements, but the disadvantage is that the cost of setting up the test environment is high, the cycle is long, and the overall R&D cost is very high. On the other hand, since the controlled objects are mostly large equipment (such as aircraft engines, APU, etc.), their operation may pose a greater safety risk to the test personnel (such as engine ignition). There is also the risk of controller failure causing the equipment to run out of control, thereby seriously damaging the test equipment.

[0006] (2) The second method mentioned above is difficult to simulate the target operating environment, which makes it impossible to test the driver code function and real-time performance. On the other hand, it places high demands on the test functions supported by the modeling tool. For example, SCADE software only supports module-level testing, and has poor interactivity and high difficulty in customized development. This makes it very difficult and inefficient to carry out functional integration testing on such models.

[0007] Therefore, it is particularly important to carry out research on airborne controller software simulation test methods. In particular, model-based airborne software development is still in its infancy in China, and there are few studies on software integration testing for high-safety modeling tools such as SCADE that are airworthiness approved. Therefore, studying an airborne controller software simulation test method is of great significance for improving the software testing efficiency under this development model and shortening the R&D cycle. Summary of the invention

[0008] In order to improve work efficiency, save R&D costs, and save production and maintenance costs, the present invention provides an airborne controller software simulation test system and a test method thereof. The airborne controller software simulation test system and the test method of the present invention can quickly build a target machine environment and realize closed-loop control. It adopts a pure software simulation test system. Compared with traditional semi-physical simulation, the present invention only needs a test machine board and related chips to build a test environment that simulates the target machine operating environment. In this environment, the signal acquisition, signal output, core logic calculation and other functions of the controller unit can be tested.

[0009] To achieve the above object, the present invention provides the following technical solution: an airborne controller software simulation test system, which includes the following modules:

[0010] An integrated test control system for issuing control instructions to the controller unit;

[0011] The controller unit is used to receive control instructions from the integrated test control system, respond and calculate, generate corresponding control signals, and send the corresponding control signals to the test machine unit;

[0012] The test machine unit is used to receive the control signal of the controller unit, and perform the response and calculation of the controlled object according to the control signal, and generate a signal to be transmitted back to the controller unit to form a closed-loop system;

[0013] The comprehensive test control system also collects parameter data generated by the controller unit and the test machine unit in real time, and displays the parameter data visually.

[0014] The preferred technical solution includes a UART serial port, through which the integrated control system sends control instructions to the controller unit; the integrated control system collects parameter data generated by the controller unit and the tester unit in real time through the UART serial port.

[0015] The preferred technical solution is that the comprehensive test control system includes a human-computer interaction page, a control instruction module, a fault injection module, a data monitoring module and a data visualization module;

[0016] The human-computer interaction page is used for the interaction between the user and the control instruction module, the fault injection module, the data monitoring module, and the data visualization module;

[0017] The control instruction module is used to convert the control instructions transmitted from the human-computer interaction interface into UART serial port signals recognizable by the controller unit;

[0018] The fault injection module is used to convert the control instructions from the human-machine interaction interface into parameter values ​​for the controller unit to respond to faults;

[0019] The data monitoring module is used to monitor various data and send the monitored data to the data visualization module for visual display.

[0020] The preferred technical solution is that the controller unit includes a control system model, a controller operation scheduling intermediate layer code, a controller UART data processing module, a controller A429 data processing module, a controller analog data processing module, and a controller discrete data processing module;

[0021] The controller runs the scheduling middle layer code to make the control system model operate normally; the controller UART data processing module is used to receive control instructions sent by the comprehensive test control system, and pass the control instructions to the control system model through the controller runs the scheduling middle layer code, so that the control system model responds to the control instructions, and passes the control signal generated by the control system model response to the test machine unit through the controller A429 data processing module, the controller simulation data processing module, and the controller discrete data processing module; the controller UART data processing module is also used to feed back the parameters of the fault code generated by the control system model in response to the control instruction to the comprehensive test control system; the controller A429 data processing module is also used to collect the A429 protocol format data transmitted by the test machine unit, and after parsing, pass it to the control system model through the controller runs the scheduling middle layer code; at the same time, the controller A429 data processing module also receives the A429 carrying data from the control system model, and converts it into the corresponding A429 protocol format through the protocol group package and outputs it to the test machine unit.

[0022] According to the preferred technical solution, the controller simulation data processing module is also used to collect the simulation signals generated by the test machine unit, and pass them to the control system model through the controller running the scheduling intermediate layer code. At the same time, it also receives the control signals from the control system model and converts them into corresponding simulation signals for output to the test machine unit.

[0023] According to the preferred technical solution, the discrete data processing module of the controller is also used to collect discrete signals generated by the test machine unit, and transmit them to the control system model through the controller running scheduling intermediate layer code. At the same time, it also receives control signals from the control system model and converts them into corresponding discrete signals for output to the test machine unit.

[0024] The preferred technical solution is that the test machine unit includes a controlled object simulation model, a test machine operation scheduling intermediate layer code, a test machine UART data processing module, a test machine A429 data processing module, a test machine simulation data processing module, and a test machine discrete data processing module;

[0025] The test machine UART data processing module receives the A429 information sent by the integrated test control system, and transmits it to the controller unit after being packaged by the test machine A429 data processing module protocol; the test machine A429 data processing module collects the A429 protocol format data transmitted by the controller unit, and after parsing, transmits the carried data to the integrated test control system through the test machine UART data processing module; the test machine UART data processing module is also used to feed back the parameters generated by the controlled object simulation model to the integrated test control system; the test machine simulation data processing module is also used to collect the analog signal generated by the controller unit, and transmit it to the controlled object simulation model through the test machine running scheduling middle layer code, and also receives the feedback signal from the controlled object simulation model, and converts it into the corresponding analog signal and outputs it to the controller unit; the test machine discrete data processing module is also used to collect the discrete signal generated by the controller unit, and transmits it to the controlled object simulation model through the test machine running scheduling middle layer code, and also receives the feedback signal from the controlled object simulation model, and converts it into the corresponding discrete signal and outputs it to the controller unit.

[0026] Another object of the present invention is to provide an airborne controller software simulation test method, which comprises the following steps:

[0027] The integrated test control system sends control instructions to the controller unit;

[0028] The controller unit receives the control instructions of the integrated test control system, responds and calculates, generates corresponding control signals, and sends the corresponding control signals to the test machine unit;

[0029] The test machine unit receives the control signal from the controller unit, responds and calculates the controlled object according to the control signal, and generates a signal to be sent back to the controller unit. The integrated test control system collects the parameter data generated by the controller unit and the test machine unit in real time, and displays the parameter data visually to form a closed-loop system.

[0030] The preferred technical solution is that the comprehensive test control system includes a human-computer interaction page, a control instruction module, a fault injection module, a data monitoring module and a data visualization module; the control instruction module converts the control instruction from the human-computer interaction interface into a UART serial port signal recognizable by the controller unit; the fault injection module converts the control instruction from the human-computer interaction interface into a parameter value for the controller unit to respond to the fault; the data monitoring module monitors various data and sends the monitored data to the data visualization module for visual display;

[0031] The controller unit includes a control system model, a controller operation scheduling middle layer code, a controller UART data processing module, a controller A429 data processing module, a controller simulation data processing module, and a controller discrete data processing module; the controller UART data processing module receives the control instructions sent by the comprehensive test control system, and transmits the control instructions to the control system model through the controller operation scheduling middle layer code, so that the control system model responds to the control instructions, and transmits the control signal generated by the control system model response to the test machine unit through the controller A429 data processing module, the controller simulation data processing module, and the controller discrete data processing module; at the same time, the controller UART data processing module feeds back the parameters of the fault code generated by the control system model responding to the control instructions to the comprehensive test control system; the controller A429 data processing module adopts The A429 protocol format data transmitted by the test machine unit is collected, and after parsing, it is passed to the control system model through the controller running the scheduling middle layer code; at the same time, the controller A429 data processing module also receives the A429 carrying data from the control system model, and converts it into the corresponding A429 protocol format through the protocol group package and outputs it to the test machine unit; the controller simulation data processing module collects the simulation signal generated by the test machine unit, and passes it to the control system model through the controller running the scheduling middle layer code, and also receives the control signal from the control system model, and converts it into the corresponding simulation signal and outputs it to the test machine unit; the controller discrete data processing module also collects the discrete signal generated by the test machine unit, and passes it to the control system model through the controller running the scheduling middle layer code, and also receives the control signal from the control system model, and converts it into the corresponding discrete signal and outputs it to the test machine unit.

[0032] The preferred technical solution is that the test machine unit includes a controlled object simulation model, a test machine operation scheduling intermediate layer code, a test machine UART data processing module, a test machine A429 data processing module, a test machine simulation data processing module, and a test machine discrete data processing module;

[0033] The test machine UART data processing module receives the A429 information sent by the integrated test control system, and transmits it to the controller unit after being packaged by the test machine A429 data processing module protocol; the test machine A429 data processing module collects the A429 protocol format data transmitted by the controller unit, and after parsing, transmits the carried data to the integrated test control system through the test machine UART data processing module; the test machine UART data processing module feeds back the parameters generated by the controlled object simulation model to the integrated test control system; the test machine simulation data processing module collects the analog signal generated by the controller unit, and transmits it to the controlled object simulation model through the test machine running scheduling middle layer code, and also receives the feedback signal from the controlled object simulation model, and converts it into the corresponding analog signal and outputs it to the controller unit; the test machine discrete data processing module collects the discrete signal generated by the controller unit, and transmits it to the controlled object simulation model through the test machine running scheduling middle layer code, and also receives the feedback signal from the controlled object simulation model, and converts it into the corresponding discrete signal and outputs it to the controller unit.

[0034] Compared with the prior art, the airborne controller software simulation test system and test method of the present invention have the following beneficial effects:

[0035] 1. The present invention implements a layered design architecture for the system / simulation model and the driver module. The system architecture of the present invention implements a layered design for the controller unit and the test machine unit, and adopts the model conversion code as the core calculation program. This part of the code can be quickly optimized and iterated using a modeling tool. The code converted using the model can be directly burned into the controller unit or the test machine unit for operation, which not only improves the efficiency of system debugging and functional testing, but also provides a target machine verification environment for the model in the PC environment.

[0036] 2. The test system and test method of the present invention can achieve the purpose of quickly building a target machine environment and realizing closed-loop control. Compared with traditional semi-physical simulation, the present invention only needs a test machine board and related chips to build a test environment that simulates the target machine operating environment, in which the signal acquisition, signal output, core logic calculation and other functions of the controller unit can be tested.

[0037] 3. The present invention provides an airborne controller software simulation test system and a test method thereof, so that the airborne software can be tested in the target machine environment in advance before being integrated into the equipment hardware to carry out hardware-in-the-loop testing, thereby shortening the software iteration cycle. At the same time, software modifications caused by problems found during the hardware integration test can also be preliminarily verified in advance through model-in-the-loop testing, effectively shortening the hardware integration time. In addition, the test method can be combined with physical testing to accelerate product development. For example, during the physical test, the noise environment on site is collected, and the controlled object model is corrected through the measured data. This can simulate the field environment in a laboratory environment, improve the accuracy of simulation testing, and accelerate product development. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic diagram of the overall architecture of an airborne controller software simulation test system of the present invention;

[0039] Figure 2 It is a schematic diagram of the architecture of the comprehensive test control system of the present invention;

[0040] Figure 3 It is a schematic diagram of the controller unit architecture of the present invention;

[0041] Figure 4 It is a schematic diagram of the test machine unit architecture of the present invention. DETAILED DESCRIPTION

[0042] Reference Figures 1 to 4 The present invention further describes an airborne controller software simulation test system and a test method thereof.

[0043] Example 1

[0044] like Figure 1 As shown, a kind of airborne controller software simulation test system of the present invention comprises a comprehensive test control system, a controller unit, and a test machine unit. The comprehensive test control system sends a control instruction to the controller unit through a UART serial port (asynchronous receiver / transmitter serial port), and the controller unit performs the response and calculation of the control end after receiving the instruction, generates various control signals, and transmits them to the test machine unit through signal channels such as Descret (discrete signal), Analog (analog signal), A429 (A429 signal), and the test machine unit performs the response and calculation of the controlled object after receiving the control signal, and the generated discrete, analog, A429 signals are then transmitted back to the controller unit, thereby forming a closed-loop system. The comprehensive test control system also collects the main parameter data generated by the controller unit and the test machine unit in real time through the UART serial port, and processes and visualizes the data.

[0045] like Figure 2As shown. The comprehensive test control system is a set of upper computer software deployed on a PC, which is mainly composed of a human-computer interaction page, a control instruction module, a fault injection module, a data monitoring module and a data visualization module. The user controls all other modules through the human-computer interaction page. The specific data interaction is as follows: (1) The user issues control instructions to simulate the aircraft cockpit control panel through the human-computer interaction page, such as engine start, normal engine shutdown, emergency engine shutdown, etc. The instructions will be converted by the control instruction module into UART serial port signals that can be recognized by the controller unit and the control signals will be cleared in time as needed; (2) The user issues fault instructions to the controller unit through the human-computer interaction page, such as oil temperature overheating, speed too high, etc. The fault injection module converts them into parameter values ​​that can trigger the controller unit to respond to faults, and at the same time controls the controller unit to shield the corresponding external acquisition signals and press Fault injection and clearing are performed according to user requirements; (3) Users can select the data to be monitored through the human-computer interaction page. These data are derived from the important parameters collected in real time by the data monitoring module through the UART serial port, including the control instructions, fault codes, A429 data generated by the controller unit, and the controlled object parameters (such as speed, exhaust temperature, oil temperature, oil pressure, etc.) generated by the test machine unit; (4) Users can select part of the monitorable data for visualization through the human-computer interaction page, and by calling the data visualization module, the data from the data monitoring module can be plotted and displayed. Signal prompt lights can also be customized according to needs to simulate the real cockpit environment.

[0046] like Figure 3As shown, the controller unit is a simulation component formed by compiling the C code converted from the control system model and the handwritten code into a binary file in the development environment supported by the target hardware platform and burning it into the target hardware platform. Its software mainly includes the control system model, the controller operation scheduling middle layer code, the controller UART data processing module, the controller A429 data processing module, the controller simulation data processing module and the controller discrete data processing module. The control system model is usually built by the user in the modeling software according to the system requirements, and then automatically converted into C code as the control logic calculation module of the entire controller unit. This part of the code will be called as a whole. The controller operation scheduling middle layer code is a handwritten C code, and its main function is to build the entire software operation framework and periodically call the function interface of other code modules so that the control system model can operate normally in the target machine environment. The controller UART data processing module receives the control instructions issued by the integrated test control system, and passes them to the control system model through the controller operation scheduling middle layer code. The control system model responds to the control instructions, thereby generating a control signal, and passes it to the test machine unit by calling the controller A429 data processing module, the controller simulation data processing module, and the controller discrete data processing module; at the same time, the controller UART data processing module also feeds back the above control signals and important parameters such as the fault code generated by the control system model to the integrated test control system for monitoring. The controller A429 data processing module collects the A429 protocol format data transmitted by the test machine unit, and passes the carrying data to the control system model through the controller operation scheduling middle layer code after protocol parsing. At the same time, it also receives the A429 carrying data from the control system model, and converts it into the corresponding A429 protocol format through the protocol group package and outputs it to the test machine unit. The controller simulation data processing module collects the analog signals (such as temperature, pressure, etc.) generated by the test machine unit and passes them to the control system model through the controller operation scheduling middle layer code. At the same time, it also receives the control signals from the control system model, and converts them into corresponding analog signals (such as valve opening, etc.) and outputs them to the test machine unit. The controller discrete data processing module collects discrete signals generated by the test machine unit (such as BITE signals, system member alarm signals, etc.) and passes them to the control system model through the middle layer. It also receives control signals from the control system model and converts them into corresponding discrete signals (such as various enable signals, switch car signals, etc.) and outputs them to the test machine unit.

[0047] like Figure 4As shown in the figure, the test machine unit is composed of C code converted from the controlled object model and handwritten code compiled into binary files in a specific development environment and burned into the test board. Its software mainly includes the controlled object simulation model, the test machine operation scheduling middle layer code, the test machine UART data processing module, the test machine A429 data processing module, the test machine simulation data processing module and the test machine discrete data processing module. The controlled object simulation model is built by the user according to the simulation test requirements, and then automatically converted into C code. As the control logic calculation module of the entire controller unit, this part of the code will be called as a whole. The test machine operation scheduling middle layer code is a handwritten C code, which mainly builds the operation framework of the entire test machine unit and periodically calls the function interface of other code modules to enable the controlled object simulation model to operate normally in the test machine environment. The test machine UART data processing module receives the A429 information sent by the integrated test control system, and transmits it to the controller unit after the test machine A429 data processing module protocol package; the test machine A429 data processing module collects the A429 protocol format data transmitted by the controller unit, and transmits the data to the integrated test control system after protocol analysis. In addition, the test machine UART data processing module also feeds back the important parameters generated by the controlled object simulation model to the integrated test control system for monitoring. The test machine simulation data processing module collects the analog signals (such as valve opening, etc.) generated by the controller unit and transmits them to the controlled object simulation model through the test machine operation scheduling middle layer code. At the same time, it also receives the feedback signal from the controlled object simulation model and converts it into the corresponding analog signal (such as temperature, pressure, etc.) and outputs it to the controller unit. The test machine discrete data processing module collects the discrete signals (such as various enable signals, switch car signals, etc.) generated by the controller unit and transmits them to the controlled object simulation model through the test machine operation scheduling middle layer code. At the same time, it also receives the feedback signal from the controlled object simulation model and converts it into the corresponding discrete signal (such as BITE signal, system member alarm signal, etc.) and outputs it to the controller unit.

[0048] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. It should be pointed out that any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An airborne controller software simulation test system, Features: It includes the following modules: An integrated test control system for issuing control instructions to the controller unit; The controller unit is used to receive control instructions from the integrated test control system, respond and calculate, generate corresponding control signals, and send the corresponding control signals to the test machine unit; The test machine unit is used to receive the control signal of the controller unit, and perform the response and calculation of the controlled object according to the control signal, and generate a signal to be transmitted back to the controller unit to form a closed-loop system; The comprehensive test control system also collects parameter data generated by the controller unit and the test machine unit in real time, and displays the parameter data visually.

2. An airborne controller software simulation test system according to claim 1, Features: It comprises a UART serial port, through which the integrated control system sends control instructions to the controller unit; the integrated control system collects parameter data generated by the controller unit and the tester unit in real time through the UART serial port.

3. An airborne controller software simulation test system according to claim 2, Features: The comprehensive test control system includes a human-computer interaction page, a control instruction module, a fault injection module, a data monitoring module and a data visualization module; The human-computer interaction page is used for the interaction between the user and the control instruction module, the fault injection module, the data monitoring module, and the data visualization module; The control instruction module is used to convert the control instructions transmitted from the human-computer interaction interface into UART serial port signals recognizable by the controller unit; The fault injection module is used to convert the control instructions from the human-machine interaction interface into parameter values ​​for the controller unit to respond to faults; The data monitoring module is used to monitor various data and send the monitored data to the data visualization module for visual display.

4. The airborne controller software simulation test system according to claim 3, Features: The controller unit includes a control system model, a controller operation scheduling middle layer code, a controller UART data processing module, a controller A429 data processing module, a controller analog data processing module, and a controller discrete data processing module; The controller runs the scheduling middle layer code to make the control system model operate normally; the controller UART data processing module is used to receive control instructions sent by the comprehensive test control system, and pass the control instructions to the control system model through the controller runs the scheduling middle layer code, so that the control system model responds to the control instructions, and passes the control signal generated by the control system model response to the test machine unit through the controller A429 data processing module, the controller simulation data processing module, and the controller discrete data processing module; the controller UART data processing module is also used to feed back the parameters of the fault code generated by the control system model in response to the control instruction to the comprehensive test control system; the controller A429 data processing module is also used to collect the A429 protocol format data transmitted by the test machine unit, and after parsing, pass it to the control system model through the controller runs the scheduling middle layer code; at the same time, the controller A429 data processing module also receives the A429 carrying data from the control system model, and converts it into the corresponding A429 protocol format through the protocol group package and outputs it to the test machine unit.

5. An airborne controller software simulation test system according to claim 4, Features: The controller simulation data processing module is also used to collect the simulation signals generated by the test machine unit, and pass them to the control system model through the controller running scheduling intermediate layer code. It also receives control signals from the control system model and converts them into corresponding simulation signals and outputs them to the test machine unit.

6. An airborne controller software simulation test system according to claim 5, Features: The controller discrete data processing module is also used to collect discrete signals generated by the test machine unit and pass them to the control system model through the controller running scheduling intermediate layer code. It also receives control signals from the control system model and converts them into corresponding discrete signals and outputs them to the test machine unit.

7. An airborne controller software simulation test system according to claim 6, Features: The test machine unit includes a controlled object simulation model, a test machine operation scheduling middle layer code, a test machine UART data processing module, a test machine A429 data processing module, a test machine simulation data processing module, and a test machine discrete data processing module; The test machine UART data processing module receives the A429 information sent by the integrated test control system, and transmits it to the controller unit after being packaged by the test machine A429 data processing module protocol; the test machine A429 data processing module collects the A429 protocol format data transmitted by the controller unit, and after parsing, transmits the carried data to the integrated test control system through the test machine UART data processing module; the test machine UART data processing module is also used to feed back the parameters generated by the controlled object simulation model to the integrated test control system; the test machine simulation data processing module is also used to collect the analog signal generated by the controller unit, and transmit it to the controlled object simulation model through the test machine running scheduling middle layer code, and also receives the feedback signal from the controlled object simulation model, and converts it into the corresponding analog signal and outputs it to the controller unit; the test machine discrete data processing module is also used to collect the discrete signal generated by the controller unit, and transmits it to the controlled object simulation model through the test machine running scheduling middle layer code, and also receives the feedback signal from the controlled object simulation model, and converts it into the corresponding discrete signal and outputs it to the controller unit.

8. An airborne controller software simulation test method, applied to the airborne controller software simulation test system according to any one of claims 1 to 7, Features: It includes the following steps: The integrated test control system sends control instructions to the controller unit; The controller unit receives the control instructions of the integrated test control system, responds and calculates, generates corresponding control signals, and sends the corresponding control signals to the test machine unit; The test machine unit receives the control signal from the controller unit, responds and calculates the controlled object according to the control signal, and generates a signal to be sent back to the controller unit. The integrated test control system collects the parameter data generated by the controller unit and the test machine unit in real time, and displays the parameter data visually to form a closed-loop system.

9. The airborne controller software simulation test method according to claim 8, Features: The comprehensive test control system includes a human-computer interaction page, a control instruction module, a fault injection module, a data monitoring module and a data visualization module; the control instruction module converts the control instruction from the human-computer interaction interface into a UART serial port signal recognizable by the controller unit; the fault injection module converts the control instruction from the human-computer interaction interface into a parameter value for the controller unit to respond to the fault; the data monitoring module monitors various data and sends the monitored data to the data visualization module for visual display; The controller unit includes a control system model, a controller operation scheduling middle layer code, a controller UART data processing module, a controller A429 data processing module, a controller simulation data processing module, and a controller discrete data processing module; the controller UART data processing module receives the control instructions sent by the comprehensive test control system, and transmits the control instructions to the control system model through the controller operation scheduling middle layer code, so that the control system model responds to the control instructions, and transmits the control signal generated by the control system model response to the test machine unit through the controller A429 data processing module, the controller simulation data processing module, and the controller discrete data processing module; at the same time, the controller UART data processing module feeds back the parameters of the fault code generated by the control system model responding to the control instructions to the comprehensive test control system; the controller A429 data processing module adopts The A429 protocol format data transmitted by the test machine unit is collected, and after parsing, it is passed to the control system model through the controller running the scheduling middle layer code; at the same time, the controller A429 data processing module also receives the A429 carrying data from the control system model, and converts it into the corresponding A429 protocol format through the protocol group package and outputs it to the test machine unit; the controller simulation data processing module collects the simulation signal generated by the test machine unit, and passes it to the control system model through the controller running the scheduling middle layer code, and also receives the control signal from the control system model, and converts it into the corresponding simulation signal and outputs it to the test machine unit; the controller discrete data processing module also collects the discrete signal generated by the test machine unit, and passes it to the control system model through the controller running the scheduling middle layer code, and also receives the control signal from the control system model, and converts it into the corresponding discrete signal and outputs it to the test machine unit.

10. The airborne controller software simulation test method according to claim 9, Features: The test machine unit includes a controlled object simulation model, a test machine operation scheduling middle layer code, a test machine UART data processing module, a test machine A429 data processing module, a test machine simulation data processing module, and a test machine discrete data processing module; The test machine UART data processing module receives the A429 information sent by the integrated test control system, and transmits it to the controller unit after being packaged by the test machine A429 data processing module protocol; the test machine A429 data processing module collects the A429 protocol format data transmitted by the controller unit, and after parsing, transmits the carried data to the integrated test control system through the test machine UART data processing module; the test machine UART data processing module feeds back the parameters generated by the controlled object simulation model to the integrated test control system; the test machine simulation data processing module collects the analog signal generated by the controller unit, and transmits it to the controlled object simulation model through the test machine running scheduling middle layer code, and also receives the feedback signal from the controlled object simulation model, and converts it into the corresponding analog signal and outputs it to the controller unit; the test machine discrete data processing module collects the discrete signal generated by the controller unit, and transmits it to the controlled object simulation model through the test machine running scheduling middle layer code, and also receives the feedback signal from the controlled object simulation model, and converts it into the corresponding discrete signal and outputs it to the controller unit.

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