Device-ground integrated health management semi-physical simulation verification system
Through the integrated health management semi-physical simulation verification system of the equipment and ground, combined with the health management simulation scheduling and verification platform, the on-board health management stand-alone, the ground autonomous guarantee system, the semi-physical fault injection equipment and the control system simulation equipment, the reusable carrier is solved. The difficulties of fault diagnosis and prediction realize the full life cycle state monitoring and fault reconstruction of the carrier, improving system performance and efficiency.
Patent Information
- Application Number
- CN202411307318.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-19
- Publication Date
- 2024-12-31
AI Technical Summary
The fault diagnosis and prediction of reusing the carrier is difficult. The prior art still needs further research on the integrated semi-physical simulation verification system of the vehicle and the ground, especially in the system architecture and verification methods.
A semi-physical simulation verification system for integrated health management in the ground was designed, through the health management simulation scheduling and verification platform, the stand-alone health management on the machine, the ground autonomous guarantee system, the semi-physical fault injection equipment, the control system simulation equipment and the viewing equipment The combination of the fault is realized digital or semi-physical injection, conducts flight process simulation verification, and verifys the correctness and rationality of the fault diagnosis and reconstruction algorithm.
The fault diagnosis and positioning capabilities of the carrier during flight are effectively verified, the performance and efficiency of the health management system are improved, and the rapid iterative and optimized design is realized to adapt to changing task requirements and environmental conditions.
Smart Images
Figure CN119225205A_ABST
Abstract
Description
Technical Field
[0001] The present invention belongs to the technical field of aerospace health management, and in particular relates to a semi-physical simulation verification system for device-ground integrated health management. Background Art
[0002] Reusable launch vehicles are the current development trend of space launch vehicles in the world. Compared with traditional disposable launch vehicles, reusable launch vehicles have harsh flight environments, complex systems, strong fault coupling, high failure rates, and are difficult to accurately diagnose and locate. They also have stricter requirements for reliability, safety, and autonomous assurance. Therefore, realizing the prediction and health management of reusable launch vehicles is an important way to achieve the reuse of launch vehicles.
[0003] In order to solve the operational needs of reusable launch vehicles such as "fault diagnosis and prediction, maintenance decision support, and intelligent situation-based maintenance", it is necessary to achieve the functions of full life cycle status monitoring, fault diagnosis and reconstruction, decision support and maintenance of reusable launch vehicles from before launch, during flight to after return through the joint efforts of onboard and ground health management equipment.
[0004] The onboard and ground health management equipment needs to build an integrated semi-physical simulation verification system to verify the running speed and reasoning efficiency of the health management system under different buses and different operating environments, and further realize the rapid iteration and optimization design of the health management plan. Through the testing and verification of the system architecture, potential problems of the health management system in a specific operating environment can be discovered and solved, and the performance and efficiency of the health management system can be further improved. The goal of rapidly optimizing and improving the health management plan can be achieved to adapt to the ever-changing mission requirements and environmental conditions.
[0005] At present, foreign new launch vehicles are building integrated semi-physical simulation and verification systems for onboard and ground health management equipment. China is still in the stage of technical research and development, and further research is still needed in terms of system architecture and verification methods. Summary of the invention
[0006] The purpose of the present invention is to overcome the above-mentioned deficiencies in the prior art and to provide a semi-physical simulation verification system for integrated vehicle-ground health management. The system carries out digital or semi-physical fault injection for electrical, power, and control faults existing during the flight of a reusable vehicle, and by simulating the flight process under fault conditions, the correctness of the fault diagnosis and reconstruction algorithms of the vehicle and ground health management equipment are verified.
[0007] The system increases the authenticity and rationality of fault injection by connecting to semi-physical simulation equipment. By connecting to model development equipment, it completes technical verifications such as fault injection, fault diagnosis and location, on-board emergency disposal and location, and ground autonomous support. It assesses the correctness and rationality of various fault judgment criteria, fault diagnosis strategies, and fault reconstruction strategies, and verifies indicators such as typical system severe fault detection rate and severe fault isolation rate.
[0008] The present invention provides a reusable vehicle-ground integrated health management simulation verification system, which consists of a health management simulation scheduling and verification platform, an on-vehicle health management stand-alone machine, a ground autonomous support system, a semi-physical fault injection device, a control system simulation device and a visual device.
[0009] The simulation verification system connects the health management simulation scheduling and verification platform with the onboard health management unit, ground autonomous support system, control system simulation equipment, semi-physical fault injection equipment and vision equipment through the 1553B bus or Ethernet.
[0010] The health management simulation scheduling and verification platform is responsible for completing functions such as health management mathematical model and algorithm configuration, simulation model management and distribution, simulation test scheduling and management, interface encapsulation and human-computer interaction, fault simulation injection, data management and scheduling, and information visualization, realizing the management and scheduling of semi-physical simulation systems and forming a visual information display platform.
[0011] The onboard health management unit is a verification device that is responsible for obtaining status information data of each system during the flight of the carrier. Through the onboard fault diagnosis and positioning software, it completes functions such as status monitoring, fault diagnosis and positioning, and fault reconstruction judgment of key parts of the carrier during the flight, thereby realizing emergency handling of system-level faults of the carrier during the flight.
[0012] The ground autonomous support system is a verification device. After the launch vehicle flight, it will complete the fault diagnosis of the entire launch vehicle system through ground autonomous support and maintenance assistance software, independently generate maintenance assistance decision-making plans, and assist in carrying out ground maintenance support work for the launch vehicle.
[0013] The semi-physical fault injection equipment is responsible for completing the semi-physical fault injection of typical electrical, power and control faults in the carrier. Electrical faults mainly include 1553B bus, 422 serial port communication, I / O signal and other fault injections. Power faults mainly include main engine thrust drop, RCS opening / closing failure and other fault injections. Control faults mainly include control rudder (aileron, rudder) and other servo mechanism fault injections.
[0014] The control system simulation equipment is responsible for completing the real-time simulation and attitude control of the vehicle's flight status. It consists of two parts: a flight simulator and a flight control machine. The simulator runs the vehicle's flight simulation model, and the flight control machine runs the control model and fault reconstruction algorithm.
[0015] The visual equipment is responsible for completing the visual display of the vehicle's flight process and status.
[0016] Furthermore, the information transmission relationship of each health management simulation verification system is as follows:
[0017] The health management simulation scheduling and verification platform transmits the stored mathematical models, algorithms and simulation models to each device through the data bus, and the scheduling manager conducts an integrated simulation verification test.
[0018] The fault injection device receives the fault injection instructions sent by the platform, completes the semi-physical simulation of the fault through the device, and transmits the fault simulation data to the health management simulation scheduling and verification platform, the on-board health management unit and the ground autonomous support system.
[0019] The control system simulation device receives the fault injection instructions sent by the platform, completes the flight status simulation under the fault state, and passes the simulation results to the onboard health management unit for emergency disposal decisions, and sends the reconstruction instructions to the flight control machine. If reconstruction is required, the flight control machine uses the reconstruction algorithm to complete the re-planning of the trajectory under the fault flight, so that the carrier can meet the emergency return requirements, and pass the reconstruction results to the simulation verification platform.
[0020] The onboard health management stand-alone receiving platform transmits the fault diagnosis algorithm and the simulation data sent by the control simulation device and the fault injection device, and completes the health monitoring, diagnosis and positioning, and fault reconstruction judgment of the onboard simulation data through the onboard fault diagnosis and positioning software. It also sends the fault reconstruction instruction to the control system simulation device to carry out the carrier flight fault reconstruction, and the fault diagnosis result is passed to the health management simulation scheduling and verification platform to verify the rationality of the onboard diagnosis algorithm.
[0021] The ground autonomous support system receives the fault diagnosis algorithm transmitted by the platform and the simulation data sent by the control simulation equipment and fault injection equipment. It completes the diagnosis and positioning of the simulation data, the configuration of full life cycle information and the auxiliary maintenance decision through the ground autonomous support and maintenance assistance software, and passes the fault diagnosis results to the health management simulation scheduling and verification platform to verify the rationality of the ground diagnosis algorithm.
[0022] The visual device receives the flight simulation data sent by the control simulation device and displays the flight status of the carrier visually.
[0023] Furthermore, the health management simulation scheduling and verification platform specifically includes a health management configuration module, a simulation configuration module, a communication interface configuration module, a fault injection module, a performance evaluation module and a health management display module, thereby realizing the simulation scheduling and health management functions of the health management simulation verification system.
[0024] The health management configuration module can configure the data source and algorithm used by health management. The configuration information can be passed from the platform software to the health management container to implement the health management configuration function.
[0025] The simulation configuration module mainly includes the simulation model distribution configuration module and the simulation parameter configuration module. The simulation model distribution configuration module configures the type and initial parameters of the simulation model run by the simulation container; the simulation parameter configuration module configures the general parameters of the simulation, such as simulation step size, sampling time, etc.
[0026] The fault injection function module refers to the fault injection into the normally running simulation node. The platform implements the fault injection function by sending the fault injection information to make the simulation container enter the fault simulation state.
[0027] The performance evaluation module can evaluate the performance of the health management system. By integrating fault injection signals, fault signals and diagnostic performance indicator signals, the system's fault alarm delay, fault reasoning real-time and health management algorithm performance can be evaluated.
[0028] The health management display module mainly displays the health status of the system, and mainly includes the measurement point display module and the fault display module. The measurement point display module can display the fault status of the measurement point to determine whether the fault injection is successful and whether the fault injection mode is correct; the fault display module displays the overall fault diagnosis results of the system, which is more macroscopic than the measurement point display and can directly display what kind of fault has occurred in the current system.
[0029] The beneficial effects of the present invention are as follows:
[0030] 1. The present invention realizes fault simulation during the flight of a carrier by constructing an integrated health management semi-physical simulation verification system, using a carrier flight simulation device and a semi-physical fault injection device;
[0031] 2. The simulation verification system of the present invention simulates the entire life cycle of the vehicle during flight and after return, and can effectively verify the algorithms and hardware interfaces for fault diagnosis, positioning and reconstruction of the onboard health management unit and ground autonomous support equipment;
[0032] 3. The present invention uniformly manages the models and algorithms of the entire system through a health management simulation scheduling and verification platform, which facilitates the updating of the models and algorithms of each device. It is universal and can meet the health management simulation verification needs of different configurations and systems. BRIEF DESCRIPTION OF THE DRAWINGS
[0033] The accompanying drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention:
[0034] Figure 1 It is a composition and information transmission relationship of a semi-physical simulation verification system for device-ground integrated health management according to an embodiment of the present invention;
[0035] Figure 2 It is a health management simulation scheduling and verification platform according to an embodiment of the present invention. DETAILED DESCRIPTION
[0036] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.
[0037] The embodiment of the present invention provides an integrated health management simulation verification system for a reusable vehicle, such as Figure 1 As shown in the figure, it consists of a health management simulation scheduling and verification platform, an on-board health management unit, a ground autonomous support system, a semi-physical fault injection device, a control system simulation device and a visual device.
[0038] The simulation verification system connects the health management simulation scheduling and verification platform with the onboard health management unit, ground autonomous support system, control system simulation equipment, semi-physical fault injection equipment and vision equipment through the 1553B bus or Ethernet.
[0039] The health management simulation scheduling and verification platform is responsible for completing functions such as health management mathematical model and algorithm configuration, simulation model management and distribution, simulation test scheduling and management, interface encapsulation and human-computer interaction, fault simulation injection, data management and scheduling, and information visualization, realizing the management and scheduling of semi-physical simulation systems and forming a visual information display platform.
[0040] The onboard health management unit is a verification device that is responsible for obtaining status information data of each system during the flight of the carrier. Through the onboard fault diagnosis and positioning software, it completes functions such as status monitoring, fault diagnosis and positioning, and fault reconstruction judgment of key parts of the carrier during the flight, thereby realizing emergency handling of system-level faults of the carrier during the flight.
[0041] The ground autonomous support system is a verification device. After the launch vehicle flight, it will complete the fault diagnosis of the entire launch vehicle system through ground autonomous support and maintenance assistance software, independently generate maintenance assistance decision-making plans, and assist in carrying out ground maintenance support work for the launch vehicle.
[0042] The semi-physical fault injection equipment is responsible for completing the semi-physical fault injection of typical electrical, power and control faults in the carrier. Electrical faults mainly include 1553B bus, 422 serial port communication, I / O signal and other fault injections. Power faults mainly include main engine thrust drop, RCS opening / closing failure and other fault injections. Control faults mainly include control rudder (aileron, rudder) and other servo mechanism fault injections.
[0043] The control system simulation equipment is responsible for completing the real-time simulation and attitude control of the vehicle's flight status. It consists of two parts: a flight simulator and a flight control machine. The simulator runs the vehicle's flight simulation model, and the flight control machine runs the control model and fault reconstruction algorithm.
[0044] The visual equipment is responsible for completing the visual display of the vehicle's flight process and status.
[0045] Furthermore, the information transmission relationship of each health management simulation verification system is as follows Figure 1 As shown:
[0046] The health management simulation scheduling and verification platform transmits the stored mathematical models, algorithms and simulation models to each device through the data bus, and the scheduling manager conducts an integrated simulation verification test.
[0047] The fault injection device receives the fault injection instructions sent by the platform, completes the semi-physical simulation of the fault through the device, and transmits the fault simulation data to the health management simulation scheduling and verification platform, the on-board health management unit and the ground autonomous support system.
[0048] The control system simulation device receives the fault injection instructions sent by the platform, completes the flight status simulation under the fault state, and passes the simulation results to the onboard health management unit for emergency disposal decisions, and sends the reconstruction instructions to the flight control machine. If reconstruction is required, the flight control machine uses the reconstruction algorithm to complete the re-planning of the trajectory under the fault flight, so that the carrier can meet the emergency return requirements, and pass the reconstruction results to the simulation verification platform.
[0049] The onboard health management stand-alone receiving platform transmits the fault diagnosis algorithm and the simulation data sent by the control simulation device and the fault injection device, and completes the health monitoring, diagnosis and positioning, and fault reconstruction judgment of the onboard simulation data through the onboard fault diagnosis and positioning software. It also sends the fault reconstruction instruction to the control system simulation device to carry out the carrier flight fault reconstruction, and the fault diagnosis result is passed to the health management simulation scheduling and verification platform to verify the rationality of the onboard diagnosis algorithm.
[0050] The ground autonomous support system receives the fault diagnosis algorithm transmitted by the platform and the simulation data sent by the control simulation equipment and fault injection equipment. It completes the diagnosis and positioning of the simulation data, the configuration of full life cycle information and the auxiliary maintenance decision through the ground autonomous support and maintenance assistance software, and passes the fault diagnosis results to the health management simulation scheduling and verification platform to verify the rationality of the ground diagnosis algorithm.
[0051] The visual device receives the flight simulation data sent by the control simulation device and displays the flight status of the carrier visually.
[0052] Furthermore, the health management simulation scheduling and verification platform is Figure 2 As shown, it specifically includes a health management configuration module, a simulation configuration module, a communication interface configuration module, a fault injection module, a performance evaluation module and a health management display module, thereby realizing the simulation scheduling and health management functions of the health management simulation verification system.
[0053] The health management configuration module can configure the data source and algorithm used by health management. The configuration information can be passed from the platform software to the health management container to implement the health management configuration function.
[0054] The simulation configuration module includes the simulation model distribution configuration module and the simulation parameter configuration module. The simulation model distribution configuration module configures the type and initial parameters of the simulation model run by the simulation container; the simulation parameter configuration module configures the general parameters of the simulation, such as simulation step size, sampling time, etc.
[0055] The fault injection function module refers to the fault injection into the normally running simulation node. The platform implements the fault injection function by sending the fault injection information to make the simulation container enter the fault simulation state.
[0056] The performance evaluation module can evaluate the performance of the health management system. By integrating fault injection signals, fault signals and diagnostic performance indicator signals, the system's fault alarm delay, fault reasoning real-time and health management algorithm performance can be evaluated.
[0057] The health management display module displays the health status of the system, including the measurement point display module and the fault display module. The measurement point display module can display the fault status of the measurement point to determine whether the fault injection is successful and whether the fault injection mode is correct; the fault display module displays the overall fault diagnosis results of the system, which is more macroscopic than the measurement point display and can directly display what kind of fault has occurred in the current system.
[0058] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.
Claims
1. A semi-physical simulation verification system for device-ground integrated health management, characterized in that: include: Health management simulation scheduling and verification platform, on-board health management stand-alone machine, ground autonomous support system, semi-physical fault injection equipment, control system simulation equipment and visual equipment; among them, The health management simulation scheduling and verification platform is used to complete health management mathematical model and algorithm configuration, simulation model management and distribution, simulation test scheduling and management, interface encapsulation and human-computer interaction, fault simulation injection, data management and scheduling, and information visualization; The onboard health management unit is a verification device used to obtain status information data of each system during the flight of the vehicle; The ground autonomous support system is a verification device used to diagnose vehicle system-wide faults after the vehicle flight ends, autonomously generate maintenance auxiliary decision-making plans, and assist in the ground maintenance support work of the vehicle; The semi-physical fault injection device is used to complete the semi-physical fault injection of typical electrical, power and control faults in the carrier; The control system simulation device is used to complete the real-time simulation and attitude control of the vehicle's flight state; The visual device is used to complete the visual display of the vehicle's flight process and status.
2. According to claim 1, a device-ground integrated health management semi-physical simulation verification system is characterized in that: The health management simulation scheduling and verification platform transmits the stored mathematical models and algorithms, simulation models to each device through the data bus, and schedules and manages the integrated simulation verification test.
3. The device-ground integrated health management semi-physical simulation verification system according to claim 1 is characterized in that: The semi-physical fault injection device receives the fault injection instruction sent by the health management simulation scheduling and verification platform, completes the semi-physical fault simulation through the device, and transmits the fault simulation data to the health management simulation scheduling and verification platform, the on-board health management unit and the ground autonomous support system.
4. The device-ground integrated health management semi-physical simulation verification system according to claim 1 is characterized in that: The control system simulation device receives the fault injection instruction sent by the health management simulation scheduling and verification platform, completes the flight status simulation under the fault state, passes the simulation result to the on-board health management unit for emergency disposal decision, and sends the reconstruction instruction to the flight control machine.
5. The device-ground integrated health management semi-physical simulation verification system according to claim 1 is characterized in that: The onboard health management machine receives the fault diagnosis algorithms transmitted by the health management simulation scheduling and verification platform and the simulation data sent by the control simulation equipment and fault injection equipment, and completes the health monitoring, diagnosis and positioning, and fault reconstruction judgment of the onboard simulation data through the onboard fault diagnosis and positioning software, and sends the fault reconstruction instructions to the control system simulation equipment to carry out the carrier flight fault reconstruction, and the fault diagnosis results are passed to the health management simulation scheduling and verification platform.
6. The device-ground integrated health management semi-physical simulation verification system according to claim 1 is characterized in that: The ground autonomous support system receives the fault diagnosis algorithm transmitted by the health management simulation scheduling and verification platform and the simulation data sent by the control simulation equipment and fault injection equipment. It completes the diagnosis and positioning of the simulation data, the configuration of full life cycle information and the auxiliary maintenance decision through the ground autonomous support and maintenance assistance software, and passes the fault diagnosis results to the health management simulation scheduling and verification platform to verify the rationality of the ground diagnosis algorithm.
7. The device-ground integrated health management semi-physical simulation verification system according to claim 1 is characterized in that: The visual device receives the flight simulation data sent by the control simulation device and displays the flight status of the carrier visually.
8. The device-ground integrated health management semi-physical simulation verification system according to claim 1 is characterized in that: The health management simulation scheduling and verification platform includes a health management configuration module, a simulation configuration module, a communication interface configuration module, a fault injection module, a performance evaluation module and a health management display module, which can realize the simulation scheduling and health management functions of the simulation verification system.
9. The device-ground integrated health management semi-physical simulation verification system according to claim 8 is characterized in that: The health management configuration module can configure the data source and algorithm used for health management; the simulation configuration module includes a simulation model distribution configuration module and a simulation parameter configuration module.
10. A device-ground integrated health management semi-physical simulation verification system according to any one of claims 1 to 9, characterized in that: The health management simulation scheduling and verification platform can update the models and algorithms of various devices and is universal.