A flight controller simulation test system and test method

Abstract

The invention discloses a flight controller simulation test system and test method. The test system includes a ground control station, a single-axis air floating platform, an adapter and a flight simulator. The ground control station is connected to the single-axis air floating platform and the flight simulator respectively. The flight simulator is installed on the single-axis air floating platform through the adapter. The flight simulator includes a posture detection module. The flight controller to be tested is installed in the flight simulator and connected to the posture detection module. The single-axis air floating platform includes an interference module. The ground control station controls the interference module and the flight controller to be tested to drive the flight simulator to operate on the single-axis air floating platform. The posture detection module is used to collect the posture information of the flight controller to be tested during operation and send it to the ground control station, so as to realize the simulation test of the flight controller to be tested. The simulation test system and the test method can realize the all-round interference simulation of the flight simulator, and the test method is simple and reliable.

Description

Technical Field

[0001] The present invention relates to the technical field of aviation aircraft, and in particular to a flight controller simulation test system and a test method. Background Art

[0002] Most of the existing unmanned aircraft use pneumatic rudders and jet propulsion or fuel propulsion to control attitude during flight, but the usual propulsion vector control is controlled by a fixed engine or switch, which cannot achieve continuous control. If continuous control is to be achieved, liquid propulsion and additional air valves are required, which will increase costs and add additional loads. In addition, the attitude control is not precise enough, resulting in a relatively single function of aircraft at this stage. Therefore, flight control devices are installed in aircraft to achieve precise control of the flight attitude of the aircraft, making the functions of the aircraft more diversified.

[0003] Currently, most simulations of flight control devices used in aircraft are for simulations with gravity and airflow interference within the atmosphere. There are fewer simulations for microgravity and low resistance outside the atmosphere, and there is also a lack of interference simulations under such working conditions. Summary of the invention

[0004] In order to solve the above technical problems, the present invention designs a flight controller simulation test system under ground conditions and cooperates with an interference simulation method to improve the reliability of ground simulation of the flight controller.

[0005] On one hand, the present invention provides a flight controller simulation test system, which includes a ground control station, a single-axis air floating platform, an adapter and a flight simulator. The ground control station is respectively connected to the single-axis air floating platform and the flight simulator by signal. The flight simulator is installed on the single-axis air floating platform through the adapter. The flight simulator includes an attitude detection module. A flight controller to be tested is installed in the flight simulator and connected to the attitude detection module. The single-axis air floating platform includes an interference module. The ground control station is used to control the interference module and the flight controller to be tested to drive the flight simulator to operate on the single-axis air floating platform. The attitude detection module is used to collect attitude information of the flight controller to be tested during operation and send it to the ground control station to realize simulation testing of the flight controller to be tested. The flight controller to be tested is specifically a three-axis orthogonal integrated flywheel with a central computer.

[0006] Preferably, the adapter includes a vertical adapter and a horizontal adapter. The flight simulator is vertically mounted on a single-axis air floating table through the vertical adapter to test the x-axis flywheel on the flight controller to be tested, and is horizontally mounted on the single-axis air floating table through the horizontal adapter to test the y-axis flywheel and z-axis flywheel on the flight controller to be tested.

[0007] Preferably, the vertical adapter includes a first connection part and a second connection part, and the horizontal adapter includes a third connection part and a fourth connection part. The first connection part or the third connection part is connected to the uniaxial air bearing platform, and the second connection part or the fourth connection part is connected to the flight simulator.

[0008] Preferably, the first connecting part includes a circular sheet body and a counterweight block arranged in a ring under the circular sheet body, and the second connecting part includes a fixing part and an installation part. The second connecting part is installed above the circular sheet body through the fixing part. The fixing part and the installation part together form a accommodating space that is compatible with the interference module and the bottom of the flight simulator, and the interference module and the bottom of the flight simulator are installed in the accommodating space.

[0009] Preferably, the third connecting part includes a rectangular sheet body, an inertial configuration plate arranged above the rectangular sheet body, and a counterweight block installed below the inertial configuration plate, and the fourth connecting part includes two brackets for supporting the flight simulator, the two brackets are arranged on two opposite long sides above the rectangular sheet body, the inertial configuration plate is located between the two brackets and extends in a direction parallel to the long side of the body, the interference module is installed at the end of the inertial configuration plate, and the side walls of the flight simulator are installed on the two brackets.

[0010] Preferably, the flight simulator is generally cylindrical and includes a shell and a power supply. The shell includes a top, a middle part and a bottom. The attitude detection module and the flight controller to be tested are respectively connected to the power supply. The attitude detection module, the flight controller to be tested and the power supply are respectively installed on the top, the middle part and the bottom of the shell.

[0011] Preferably, the ground control station includes an interference input module and an attitude control module. The interference input module is used to send interference signals to the interference module and / or the flight controller to be tested. The interference module and / or the flight controller to be tested simulate the interference to the movement of the flight simulator according to the received interference signals. The attitude control module is used to send attitude control signals to the interference module and the flight controller to be tested. The interference module and the flight controller to be tested respectively control the movement attitude of the single-axis air floating platform and the flight simulator according to the received attitude control signals. The attitude control module is also used to obtain attitude information of the flight controller to be tested.

[0012] Another aspect of the present invention provides a flight controller simulation test method, which uses the above-mentioned flight controller simulation test system to perform testing, and the test method comprises the following steps:

[0013] S1, preset installation mode and angular velocity, select any installation mode from the preset installation modes to complete installation and initialization;

[0014] S2. Turn on the single-axis air-floating platform to make the flight simulator float above the single-axis air-floating platform and keep it still. The ground control station sends a first attitude control signal to the interference module.

[0015] S3, the interference module outputs a torque according to the received first attitude control signal and drives the flight simulator to rotate;

[0016] S4, obtaining the real-time angular velocity information of the flight controller to be tested, and determining whether the real-time angular velocity of the flight controller to be tested reaches the preset angular velocity. If it reaches the preset angular velocity, execute S5; otherwise, execute S3;

[0017] S5. Preset several interference modes and angles in each interference mode. The ground control station controls the execution module and / or the flight controller to be tested to drive the flight simulator to the preset angle in each interference mode to complete the simulation test in each interference mode.

[0018] S6. Select another installation mode from the preset installation modes to complete the installation. Until all the preset installation modes are selected, repeat steps S1 to S5 to complete the simulation test of the flight controller to be tested and output the simulation test results.

[0019] Preferably, S5 specifically includes the following:

[0020] S51, arbitrarily selecting an interference mode from several interference modes, the ground control station sends a corresponding interference signal to the execution module and / or the flight controller to be tested in the selected interference mode, and the execution module and / or the flight controller to be tested respectively output an external interference torque and / or an internal interference torque according to the interference signals received respectively and control the operation of the flight simulator;

[0021] S52, the ground control station sends a second attitude control signal to the flight controller to be tested, and the flight controller to be tested receives the second attitude control signal and enters a damping mode, and outputs a control torque to drive the flight simulator to decelerate;

[0022] S53, obtaining the real-time angular velocity information of the flight controller to be tested, and determining whether the real-time angular velocity of the flight controller to be tested drops to 0° / S. If yes, executing S54; otherwise, executing S52;

[0023] S54, the ground control station sends a third attitude control signal to the flight controller to be tested, and the flight controller to be tested receives the third attitude control signal and enters an angle maneuvering mode, outputs a control torque to drive the flight simulator to operate and adjust the angle;

[0024] S55, obtaining the real-time angle information of the flight controller to be tested, and determining whether the real-time angle of the flight controller to be tested reaches the preset angle in the selected interference mode. If it reaches the preset angle, execute S56; otherwise, execute S54;

[0025] S56, selecting another interference mode from the plurality of interference modes, repeating steps S51 to S55, until all the plurality of interference modes are selected, and ending the simulation test in the current installation mode.

[0026] Preferably, the several interference modes in S5 include no interference, internal interference, external interference and mixed interference. In S51, the ground control station sends a corresponding interference signal to the execution module and the attitude controller under the selected interference mode, specifically including:

[0027] If the interference mode is no interference, the interference input module does not send out interference signals;

[0028] If the interference mode is internal interference, the interference input module only sends the first interference signal to the execution module;

[0029] If the interference mode is external interference, the interference input module only sends the second interference signal to the flight controller under test;

[0030] If the interference mode is mixed interference, the interference input module sends a first interference signal to the execution module and sends a second interference signal to the flight controller to be tested.

[0031] Beneficial effects of the present invention:

[0032] 1. The flight controller simulation test system in this scheme can simulate the working conditions of spacecraft in microgravity and low resistance under ground conditions by mounting a flight simulator on an air-floating platform and installing the flight controller to be tested in the flight simulator;

[0033] 2. The flight controller simulation test method in this scheme can perform testing when the flight simulator is interfered with both inside and outside by setting interference sources simultaneously inside and outside the flight simulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 is a schematic block diagram of a flight controller simulation test system in one embodiment of the present invention;

[0035] Figure 2 It is a schematic diagram of the overall structure of the flight controller simulation test system in one embodiment of the present invention when the ground control station is not included and the connecting member is a vertical connecting member;

[0036] Figure 3 It is a schematic diagram of the overall structure of the flight controller simulation test system in one embodiment of the present invention when the ground control station is not included and the connecting piece is a horizontal connecting piece;

[0037] Figure 4 It is a structural schematic diagram of a vertical connecting member in one embodiment of the present invention;

[0038] Figure 5 It is a structural schematic diagram of a horizontal connecting member in one embodiment of the present invention;

[0039] Figure 6 A schematic diagram of the external structure of a flight simulator in one embodiment of the present invention;

[0040] Figure 7 A schematic diagram of the internal structure of a flight simulator in one embodiment of the present invention;

[0041] Figure 8 A flowchart of a flight controller simulation test method according to an embodiment of the present invention;

[0042] Fig. 9 It is a flow chart of a test method of a flight controller in a certain interference mode in one embodiment of the present invention;

[0043] Description of reference numerals:

[0044] 1. Ground control station; 11. Interference input module; 12. Attitude control module;

[0045] 2. Single-axis air-floating platform; 21. Interference module; 22. Air-floating bearing; 23. Load-bearing platform; 24. Workbench;

[0046] 3. adapter; 31. first connection part; 311. circular sheet body; 32. second connection part; 321. fixing part; 322. mounting part; 33. third connection part; 331. rectangular sheet body; 332. inertial configuration plate; 34. fourth connection part; 341. bracket;

[0047] 4. Flight simulator; 41. Attitude detection module; 42. Flight simulator housing; 421. Top; 422. Middle; 423. Bottom; 43. Power supply;

[0048] 5. Flight controller; 51. X-axis flywheel; 52. Y-axis flywheel; 53. Z-axis flywheel. DETAILED DESCRIPTION

[0049] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. Figure 1 The directions or positional relationships shown, where “upper”, “lower”, “left”, “right”, “front” and “back” refer to Figure 2 It should be understood that these directional terms are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0050] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number or order of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0051] Reference Figure 1 , Figure 2 and Figure 3 The embodiment of the present application provides a flight controller simulation test system, which includes: a ground control station 1, a single-axis air floating platform 2, an adapter 3 and a flight simulator 4, the flight simulator 4 is generally columnar, the ground control station 1 is respectively connected to the single-axis air floating platform 2 and the flight simulator 4 by signal, the flight simulator 4 is installed on the single-axis air floating platform 2 through the adapter 3, the flight simulator 4 includes a posture detection module 41, a flight controller 5 to be tested is installed in the flight simulator 4 and connected to the posture detection module 41, the single-axis air floating platform 2 includes an interference module 21, the ground control station 1 is used to control the interference module 21 and the flight controller 5 to be tested to drive the flight simulator 4 to operate on the single-axis air floating platform 2, the posture detection module 41 is used to collect the posture information of the flight controller 5 to be tested during operation and send it to the ground control station 1, so as to realize the simulation test of the flight controller 5 to be tested, the flight controller 5 to be tested is specifically a three-axis orthogonal integrated flywheel with a central computer, when the flight controller 5 to be tested is installed in the flight simulator 4, the axis of the x-axis flywheel on the flight controller 5 to be tested coincides with the axis of the flight simulator 4 as much as possible. It should also be noted that the interference module 21 is used to drive the single-axis air bearing platform 2 to rotate, thereby driving the flight simulator 4 to operate. Therefore, the installation surface of the interference module 21 should be parallel to the YOZ plane of the single-axis air bearing platform. In addition, for ease of operation, the interference module 21 can be installed on the adapter 3.

[0052] Further, see Figure 2 and Figure 3 The uniaxial air-floating platform 2 also includes an air-floating bearing 22, a carrying platform 23, a workbench 24 and an air supply module. The air-floating bearing 22 is fixed on the workbench 24, and the carrying platform 23 can be movably installed on the air-floating bearing 22. The air supply module provides an air source so that an air film can be generated between the carrying platform 23 and the air-floating bearing 22. The carrying platform 23 can be suspended above the air-floating bearing 22 during operation. The flight simulator 4 is fixed on the carrying platform 23 through the adapter 3. At this time, the carrying platform 23 can drive the flight simulator 4 to rotate around the X-axis of the uniaxial air-floating platform 2 under microgravity and low damping conditions through the adapter 3.

[0053] Further, see Figure 2 and Figure 3The adapter 3 includes a vertical adapter and a horizontal adapter. The flight simulator 4 is vertically installed on the single-axis air floating platform 2 through the vertical adapter to test the x-axis flywheel on the flight controller 5 to be tested, and is horizontally installed on the single-axis air floating platform 2 through the horizontal adapter to test the y-axis flywheel and z-axis flywheel on the flight controller 5 to be tested. When a vertical adapter is used to install the flight simulator 4 on the single-axis air floating platform 2, the axis of the flight simulator 4 is parallel to the X-axis of the single-axis air floating platform 2. At this time, the axis of the x-axis flywheel on the flight controller 5 is also parallel to the X-axis of the single-axis air floating platform 2. When a horizontal adapter is used to install the flight simulator 4 on the single-axis air floating platform 2, the axis of the flight simulator 4 is parallel to the YOZ plane where the single-axis air floating platform 2 is located. At this time, there are two installation methods for the flight simulator 4: one is that the axis of the y-axis flywheel on the flight controller 5 is parallel to the X-axis of the single-axis air floating platform 2, and the other is that the axis of the z-axis flywheel on the flight controller 5 is parallel to the X-axis of the single-axis air floating platform 2.

[0054] Further, the vertical adapter includes a first connection portion 31 and a second connection portion 32, and the horizontal adapter includes a third connection portion 33 and a fourth connection portion 34. The first connection portion 31 or the third connection portion 33 is connected to the uniaxial air floating platform 2, and the second connection portion 32 or the fourth connection portion 34 is connected to the flight simulator 4. At this time, the flight simulator 4 can be vertically installed on the uniaxial air floating platform 2 through the first connection portion 31 and the second connection portion 32, or horizontally installed on the uniaxial air floating platform 2 through the third connection portion 33 and the fourth connection portion 34.

[0055] The first connection part 31 and the second connection part 32 can be integrally formed or designed as a split type, and then detachably connected by fasteners; the third connection part 33 and the fourth connection part 34 can be integrally formed or designed as a split type, and then detachably connected by fasteners. In order to facilitate processing, installation, and later maintenance and replacement, taking the first connection part 31 and the second connection part 32 as an example, the first connection part 31 and the second connection part 32 are designed to be split, one end of the first connection part 31 and one end of the second connection part 32 are detachably connected, the other end of the first connection part 31 is detachably connected to the uniaxial air floating platform 2, and the other end of the second connection part 32 is detachably connected to the flight simulator 4.

[0056] Further, see Figure 2 and Figure 4 When the connecting member 3 is a vertical adapter, the first connecting portion 31 includes a circular sheet body 311 and a counterweight block arranged under the circular sheet body 311, see Figure 4, four pairs of counterweight mounting holes are arranged along the edge ring of the circular sheet body 311, and the four counterweights are installed at the bottom of the circular sheet body 311 through the counterweight mounting holes; the second connecting part 32 includes a fixing part 321 and a mounting part 322, and the second connecting part 32 is installed above the circular sheet body 311 through the fixing part 321, and the fixing part 321 and the mounting part 322 together form a accommodating space adapted to the bottom of the interference module 21 and the flight simulator 4, and the interference module 21 and the bottom of the flight simulator 4 are installed in the accommodating space.

[0057] Further, see Figure 3 and Figure 5 When the connecting member 3 is specifically a horizontal adapter, the third connecting portion 33 includes a rectangular sheet body 331, an inertial configuration plate 332 arranged above the rectangular sheet body 331, and a counterweight block installed below the inertial configuration plate 332. The fourth connecting portion 34 includes two brackets 341 for supporting the flight simulator 4. The two brackets 341 are arranged above the rectangular sheet body 331 and are located on two opposite long sides. The inertial configuration plate 332 is located between the two brackets 341 and extends along a direction parallel to the long side of the body 331. The interference module 21 is installed at the end of the inertial configuration plate 332, and the side walls of the flight simulator 4 are installed on the two brackets 341.

[0058] Further, see Figure 6 and Figure 7 The flight simulator 4 is generally cylindrical, and includes a shell 42 and a power supply 43. The shell 42 includes a top 421, a middle part 422 and a bottom 423. The attitude detection module 41 and the flight controller 5 to be tested are respectively connected to the power supply 43. The attitude detection module 41, the flight controller 5 to be tested and the power supply 43 are respectively installed on the top 421, the middle part 422 and the bottom 423 of the shell 42. When the flight simulator 4 is generally cylindrical, the two brackets 341 used to support the flight simulator 4 are specifically U-shaped brackets, so as to better fit the side wall of the flight simulator 4 and maintain stability.

[0059] Further, see Figure 1 The ground control station 1 includes an interference input module 11 and an attitude control module 12. The interference input module 11 is used to send an interference signal to the interference module 21 and / or the flight controller 5 to be tested. The interference module 21 and / or the flight controller 5 to be tested simulate the interference to the movement of the flight simulator 4 according to the received interference signal. The attitude control module 12 is used to send an attitude control signal to the interference module 21 and the flight controller 5 to be tested. The interference module 21 and the flight controller 5 to be tested respectively control the movement attitude of the single-axis air floating platform 2 and the flight simulator 4 according to the received attitude control signal. The attitude control module 12 is also used to obtain the attitude information of the flight controller 5 to be tested.

[0060] Furthermore, the interference module 21 is specifically a reaction flywheel, and the attitude detection module 41 is specifically a gyroscope.

[0061] Reference Figure 8 In another embodiment of the present application, a flight controller simulation test method is provided, and the flight controller simulation test system is used for testing. The method comprises the following steps:

[0062] S1. Preset the installation mode and angular velocity, and select any installation mode from the preset installation modes to complete installation and initialization.

[0063] Specifically, the flight controller 5 to be tested is installed on the flight simulator 4, so that the axis of the x-axis flywheel on the flight controller 5 to be tested coincides with the axis of the flight simulator 4, and the installation mode of the flight simulator 4 relative to the axis air-floating platform 2 is selected and the installation is completed. The installation modes include vertical installation, horizontal installation first mode and horizontal installation second mode, and each installation mode is specifically set as follows:

[0064] Vertical installation: Use a vertical adapter to install the flight simulator 4 on the single-axis air-floating platform 2. The axis of the flight simulator 4 is parallel to the X-axis of the single-axis air-floating platform 2. At this time, the axis of the x-axis flywheel on the flight controller 5 is also parallel to the X-axis of the single-axis air-floating platform 2.

[0065] Horizontal installation mode 1: The flight simulator 4 is installed on the single-axis air-floating platform 2 using a horizontal adapter, and the axis of the flight simulator 4 is parallel to the YOZ plane of the single-axis air-floating platform 2. At this time, the axis of the y-axis flywheel on the flight controller 5 is parallel to the X-axis of the single-axis air-floating platform 2.

[0066] Horizontal installation second mode: Use a horizontal adapter to install the flight simulator 4 on the single-axis air floating platform 2, the axis of the flight simulator 4 is parallel to the YOZ plane where the single-axis air floating platform 2 is located, and the axis of the z-axis flywheel on the flight controller 5 is parallel to the X-axis of the single-axis air floating platform 2.

[0067] By installing the interference module 21 with its mounting surface perpendicular to the X-axis of the single-axis air-floating platform 2, the mounting surfaces of the flywheels of the attitude controller that does not participate in attitude control are respectively perpendicular to the Y-axis and the Z-axis, so as to realize three-axis omnidirectional interference simulation.

[0068] S2. Turn on the single-axis air-floating platform to make the flight simulator float above the single-axis air-floating platform and keep it still. The ground control station sends a first attitude control signal to the interference module.

[0069] S3. The interference module outputs an interference torque according to the received first attitude control signal and drives the flight simulator to rotate.

[0070] S4. Obtain the real-time angular velocity information of the flight controller to be tested, and determine whether the real-time angular velocity of the flight controller to be tested reaches the preset angular velocity. If it reaches the preset angular velocity, execute S5; otherwise, execute S3.

[0071] Specifically, the angular velocity V0 is preset, and the interference module is controlled to output the interference torque and drive the flight simulator to rotate. By acquiring and detecting whether the real-time angular velocity of the flight controller to be tested reaches the preset angular velocity V0, this is to simulate the initial mode (i.e., the initial motion state) of the space vehicle (corresponding to the flight simulator in this application).

[0072] S5. Preset several interference modes and angles in each interference mode. The ground control station controls the execution module and / or the flight controller to be tested to drive the flight simulator to the preset angle in each interference mode to complete the simulation test in each interference mode.

[0073] The above-mentioned interference modes specifically include no interference, internal interference, external interference and mixed interference.

[0074] Further, see Fig. 9 , S5 specifically includes the following:

[0075] S51. Any interference mode is selected from several interference modes. The ground control station sends a corresponding interference signal to the execution module and / or the flight controller to be tested under the selected interference mode. The execution module and / or the flight controller to be tested output external interference torque and / or internal interference torque respectively according to the interference signals received and control the operation of the flight simulator.

[0076] The ground control station sends the corresponding interference signal to the execution module and attitude controller in the selected interference mode, specifically including:

[0077] If the selected interference mode is no interference, the interference input module does not send out interference signals;

[0078] If the selected interference mode is internal interference, the interference input module only sends the first interference signal to the execution module;

[0079] If the selected interference mode is external interference, the interference input module only sends the second interference signal to the flight controller under test;

[0080] If the selected interference mode is mixed interference, the interference input module sends a first interference signal to the execution module and sends a second interference signal to the flight controller to be tested.

[0081] The above disturbance can be instantaneous or continuous. The disturbance torque is usually a torque curve, which continuously outputs variable torque, so as to simulate a more realistic high-altitude operation situation.

[0082] S52: The ground control station sends a second attitude control signal to the flight controller to be tested. The flight controller to be tested receives the second attitude control signal and enters a damping mode, and outputs a control torque to drive the flight simulator to decelerate.

[0083] S53, obtaining the real-time angular velocity information of the flight controller to be tested, and determining whether the real-time angular velocity of the flight controller to be tested drops to 0° / S. If yes, executing S54; otherwise, executing S52.

[0084] Specifically, before adjusting its attitude, the spacecraft needs to reduce its angular velocity to 0° / S to achieve the best attitude control state. The damping mode simulates the spacecraft adjusting to the best attitude control state when it is subject to internal / external interference, in preparation for subsequent flight trajectory adjustments.

[0085] S54: The ground control station sends a third attitude control signal to the flight controller to be tested. The flight controller to be tested receives the third attitude control signal and enters an angle maneuvering mode, outputs a control torque to drive the flight simulator to operate and adjust the angle.

[0086] S55. Obtain the real-time angle information of the flight controller to be tested, and determine whether the real-time angle of the flight controller to be tested reaches the preset angle in the selected interference mode. If so, execute S56; otherwise, execute S54.

[0087] Specifically, the angle maneuvering mode is to adjust the angle of the flight simulator to a preset angle while simulating the space vehicle in the optimal attitude control state.

[0088] S56, selecting another interference mode from the plurality of interference modes, repeating steps S51 to S55, until all the plurality of interference modes are selected, and ending the simulation test in the current installation mode.

[0089] S6. Select another installation mode from the preset installation modes to complete the installation. Until all the preset installation modes are selected, repeat steps S1 to S5 to complete the simulation test of the flight controller to be tested and output the simulation test results.

[0090] Furthermore, the ground control station includes an interference input module and an attitude control module. The first, second and third attitude control signals are specifically sent by the attitude control module in the ground control station, and the interference signal is sent by the interference input module in the ground control station.

[0091] The above-mentioned flight controller simulation test system and test method, the test system includes a ground control station, a single-axis air floating platform, an adapter and a flight simulator, the ground control station is connected to the single-axis air floating platform and the flight simulator respectively, the flight simulator is installed on the single-axis air floating platform through the adapter, the flight simulator includes an attitude detection module, the flight controller to be tested is installed in the flight simulator and connected to the attitude detection module, the single-axis air floating platform includes an interference module, the ground control station controls the interference module and the flight controller to be tested to drive the flight simulator to operate on the single-axis air floating platform, and the attitude detection module is used to collect the attitude information of the flight controller to be tested during operation and send it to the ground control station, so as to realize the simulation test of the flight controller to be tested. The simulation test system and method use the external interference module for external interference input, and use the flywheel in the flight controller to be tested that does not participate in attitude control for internal interference input, so as to realize the all-round interference simulation of the flight simulator, and the test system and test method are simple and reliable.

[0092] The above is a detailed introduction to a flight controller simulation test system and test method provided by the present invention. This article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the core idea of ​​the present invention. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the present invention, the present invention can also be improved and modified, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A flight controller simulation test system, characterized in that: The system comprises: a ground control station (1), a single-axis air-floating platform (2), an adapter (3) and a flight simulator (4); the ground control station (1) is respectively connected to the single-axis air-floating platform (2) and the flight simulator (4) by signals; the flight simulator (4) is installed on the single-axis air-floating platform (2) through the adapter (3); the flight simulator (4) comprises a posture detection module (41); a flight controller to be tested (5) is installed in the flight simulator (4) and connected to the posture detection module (41); the single-axis air-floating platform (2) comprises an interference module (21); the ground control station (1) is used to control the interference module (21) and the flight controller to be tested (5) to drive the flight simulator (4) to operate on the single-axis air-floating platform (2); the posture detection module (41) is used to collect posture information of the flight controller to be tested (5) during operation and send it to the ground control station (1) to realize simulation testing of the flight controller to be tested (5); the flight controller to be tested (5) is specifically a three-axis orthogonal integrated flywheel with a central computer; The adapter (3) comprises a vertical adapter and a horizontal adapter. The flight simulator (4) is vertically mounted on the single-axis air-floating platform (2) through the vertical adapter to test the x-axis flywheel on the flight controller (5) to be tested, and is horizontally mounted on the single-axis air-floating platform (2) through the horizontal adapter to test the y-axis flywheel and the z-axis flywheel on the flight controller (5) to be tested.

2. The flight controller simulation test system as claimed in claim 1, characterized in that: The vertical adapter comprises a first connection part (31) and a second connection part (32), and the horizontal adapter comprises a third connection part (33) and a fourth connection part (34); the first connection part (31) or the third connection part (33) is connected to the single-axis air-floating platform (2), and the second connection part (32) or the fourth connection part (34) is connected to the flight simulator (4).

3. The flight controller simulation test system as claimed in claim 2, characterized in that: The first connection part (31) comprises a circular sheet body (311) and a counterweight block arranged in a ring below the circular sheet body (311); the second connection part (32) comprises a fixing part (321) and a mounting part (322); the second connection part (32) is mounted above the circular sheet body (311) via the fixing part (321); the fixing part (321) and the mounting part (322) together form a receiving space adapted to the bottom of the interference module (21) and the flight simulator (4); the bottom of the interference module (21) and the flight simulator (4) are mounted in the receiving space.

4. The flight controller simulation test system as claimed in claim 2, characterized in that: The third connection part (33) comprises a rectangular sheet body (331), an inertia configuration plate (332) arranged above the rectangular sheet body (331), and a counterweight block installed below the inertia configuration plate (332); the fourth connection part (34) comprises two brackets (341) for supporting a flight simulator (4); the two brackets (341) are arranged on two opposite long sides above the rectangular sheet body (331); the inertia configuration plate (332) is located between the two brackets (341) and extends in a direction parallel to the long side of the body (331); the interference module (21) is installed at the end of the inertia configuration plate (332); and the side walls of the flight simulator (4) are installed on the two brackets (341).

5. The flight controller simulation test system according to any one of claims 1 to 4, characterized in that: The flight simulator (4) is generally cylindrical and comprises a housing (42) and a power supply (43); the housing (42) comprises a top portion (421), a middle portion (422) and a bottom portion (423); the attitude detection module (41) and the flight controller to be tested (5) are respectively connected to the power supply (43); the attitude detection module (41), the flight controller to be tested (5) and the power supply (43) are respectively mounted on the top portion (421), the middle portion (422) and the bottom portion (423) of the housing (42).

6. The flight controller simulation test system according to any one of claims 1 to 4, characterized in that: The ground control station (1) comprises an interference input module (11) and an attitude control module (12); the interference input module (11) is used to send an interference signal to an interference module (21) and / or a flight controller to be tested (5); the interference module (21) and / or the flight controller to be tested (5) simulate interference to a flight simulator (4) during movement according to the received interference signal; the attitude control module (12) is used to send an attitude control signal to the interference module (21) and the flight controller to be tested (5); the interference module (21) and the flight controller to be tested (5) respectively control the movement attitude of a single-axis air-floating platform (2) and a flight simulator (4) according to the received attitude control signal; and the attitude control module (12) is also used to obtain attitude information of the flight controller to be tested (5).

7. A flight controller simulation test method, using the flight controller simulation test system according to any one of claims 1 to 6 for testing, characterized in that: The test method includes the following steps: S1, preset installation mode and angular velocity, select any installation mode from the preset installation modes to complete installation and initialization; S2. Turn on the single-axis air-floating platform to make the flight simulator float above the single-axis air-floating platform and keep it still. The ground control station sends a first attitude control signal to the interference module. S3, the interference module outputs a torque according to the received first attitude control signal and drives the flight simulator to rotate; S4, obtaining the real-time angular velocity information of the flight controller to be tested, and determining whether the real-time angular velocity of the flight controller to be tested reaches the preset angular velocity. If it reaches the preset angular velocity, execute S5; otherwise, execute S3; S5. Preset several interference modes and angles in each interference mode. The ground control station controls the execution module and / or the flight controller to be tested to drive the flight simulator to the preset angle in each interference mode to complete the simulation test in each interference mode. S6. Select another installation mode from the preset installation modes to complete the installation. Until all the preset installation modes are selected, repeat steps S1 to S5 to complete the simulation test of the flight controller to be tested and output the simulation test results.

8. The flight controller simulation test method according to claim 7, characterized in that: S5 specifically includes the following: S51, arbitrarily selecting an interference mode from several interference modes, the ground control station sends a corresponding interference signal to the execution module and / or the flight controller to be tested in the selected interference mode, and the execution module and / or the flight controller to be tested respectively output an external interference torque and / or an internal interference torque according to the interference signals received respectively and control the operation of the flight simulator; S52, the ground control station sends a second attitude control signal to the flight controller to be tested, and the flight controller to be tested receives the second attitude control signal and enters a damping mode, and outputs a control torque to drive the flight simulator to decelerate; S53, obtaining the real-time angular velocity information of the flight controller to be tested, and determining whether the real-time angular velocity of the flight controller to be tested drops to 0° / S. If yes, executing S54; otherwise, executing S52; S54, the ground control station sends a third attitude control signal to the flight controller to be tested, and the flight controller to be tested receives the third attitude control signal and enters an angle maneuvering mode, outputs a control torque to drive the flight simulator to operate and adjust the angle; S55, obtaining the real-time angle information of the flight controller to be tested, and determining whether the real-time angle of the flight controller to be tested reaches the preset angle in the selected interference mode. If it reaches the preset angle, execute S56; otherwise, execute S54; S56, selecting another interference mode from the plurality of interference modes, repeating steps S51 to S55, until all the plurality of interference modes are selected, and ending the simulation test in the current installation mode.

9. The flight controller simulation test method according to claim 8, characterized in that: The interference modes in S5 include no interference, internal interference, external interference and mixed interference. In S51, the ground control station sends corresponding interference signals to the execution module and the attitude controller under the selected interference mode, specifically including: If the interference mode is no interference, the interference input module does not send out interference signals; If the interference mode is internal interference, the interference input module only sends the first interference signal to the execution module; If the interference mode is external interference, the interference input module only sends the second interference signal to the flight controller under test; If the interference mode is mixed interference, the interference input module sends a first interference signal to the execution module and sends a second interference signal to the flight controller to be tested.

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