AAC controller parameter test method based on modulo flight test

Abstract

The invention provides an AAC controller parameter test method based on an analog flight test, which can simulate attitude control output during rigid body control large deviation and elastic parameter large deviation only by changing bookbinding data content on the premise of not increasing integration test, target range test and analog flight test items and test processes, and can test the parameters of the AAC controller according to the attitude control output during rigid body control large deviation and elastic parameter large deviation. The test working conditions of kt parameter increase and decrease can be fully covered and assessed, the ground test coverage is improved, and the influence of the AAC technology on each single machine of the control system and the system stability are assessed.

Description

Technical Field

[0001] The invention relates to an AAC controller parameter testing method based on simulated flight testing, and belongs to the field of launch vehicle testing. Background Art

[0002] At present, launch vehicles usually adopt the PID (proportional + integral + differential) control method of classical control theory. For rockets with increased uncertainty in rigid body and elastic parameters, the traditional "PD + correction network" control method is more difficult to design. Therefore, it is necessary to design new controller parameters to achieve online self-adjustment of controller parameters and improve the control system margin.

[0003] The full name of the AAC control algorithm is Adaptive Augmenting Control (AAC), which is a control method that adjusts the system's gain coefficient online and automatically adjusts the rocket's control capability in real time, thereby improving the system's control performance and stability.

[0004] The input of AAC is the comprehensive output of the inertial group attitude angle, rate gyro angular rate, program angle, and the current channel differential equation solution. The output of AAC is the online adjusted gain coefficient kt. The attitude deviation is used as input, and the gain kt is increased online to achieve the expected tracking response; the gain kt is reduced online by extracting the differential equation solution and then filtering it, thereby weakening the influence of high-frequency elastic signals on system stability.

[0005] In the existing simulation flight test project, the attitude control program angle is solidified through the open-loop simulation flight test to complete the control system simulation flight test. After adopting the AAC controller technology, the existing simulation flight test method cannot test the AAC controller parameters. Summary of the invention

[0006] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art and provide an AAC controller parameter testing method based on simulated flight test. Without adding integrated test, range test power-on simulated flight test items and test procedures, the rocket control system can be evaluated during the power-on process for the influence of the AAC technology on each unit of the control system and the system stability during the flight phase by simply changing the binding data content.

[0007] The technical solution of the present invention is:

[0008] A method for testing parameters of an AAC controller based on simulated flight testing comprises the following steps:

[0009] Step 1: Make binding data: According to the test requirements, determine the test parameter settings, simulate the influence of rigid body posture deviation and elastic deviation in different time periods, and generate binding data for simulated flight test;

[0010] Step 2: Perform flight control software acceptance: For the generated binding data used for the simulated flight test, create a software acceptance test case, load it into the software acceptance industrial computer, and conduct a simulated flight test based on the onboard computer and the software acceptance industrial computer to obtain a software acceptance result curve, which includes the AAC controller parameter kt curve and the servo mechanism control command curve;

[0011] Step 3: According to the software acceptance result curve, it is imported into the real-time automatic interpretation software for real-time mirror following interpretation during the simulation flight test;

[0012] Step 4: The ground main control microcomputer runs the simulated flight test process, completes self-check and power-on;

[0013] Step 5: Upload the binding data generated in step 1 to the onboard computer, then download the onboard computer flight control software and binding data, and compare them to confirm the correctness of the flight control software and the correctness of the AAC parameter settings in the binding data. If they are all correct, proceed to step 6;

[0014] Step 6: The flight control software reads the bound data. After the onboard computer completes the initial alignment and ignition for takeoff, it performs simulated flight attitude control and guidance solution. According to the solidified attitude control program angle, the onboard computer flight control software calculates the AAC controller parameters in real time and finally outputs them as servo mechanism control instructions.

[0015] Step 7: In the automatic interpretation software, according to the software acceptance result curve imported in step 3, and the AAC controller parameters and servo mechanism control instructions obtained in step 6, real-time follow-up interpretation is performed to complete the AAC controller parameter test based on the simulated flight test.

[0016] Further, the binding data is produced, specifically:

[0017] For the pitch channel and yaw channel, before the test starts, the test parameter settings are determined according to the test requirements, and the influence of rigid body attitude deviation and elastic deviation is simulated in different time periods: in the first time period, that is, time t1~t2, the program angle is changed by a trapezoidal wave to simulate the interference of strong winds during the flight of the rocket, resulting in a large attitude angle deviation; in the second time period, that is, time t3~t4, the program angle changes to a sinusoidal interference signal with high-frequency jitter at a certain frequency, with an amplitude of A and a frequency of f, which is used to simulate the high-frequency elastic interference received by the rocket during flight.

[0018] Furthermore, the software acceptance test cases include simulated inertial group pulses and rate gyro signals;

[0019] The software acceptance test hardware includes an onboard computer and a software acceptance industrial computer. Based on the above hardware and software, the acceptance test is completed to obtain the expected AAC controller parameter kt curve and servo mechanism control command curve.

[0020] Furthermore, the ground main control microcomputer runs the simulated flight test process to complete self-check and power on, specifically:

[0021] According to the simulated flight test process, the control system's single-machine power distribution is completed, the fiber-optic strapdown inertial group is powered on and self-checked, and after the main control microcomputer determines that the self-check result is qualified, it enters the inertial group preheating state and completes the inertial group preheating.

[0022] Furthermore, the onboard computer flight control software calculates the AAC controller parameters in real time, specifically:

[0023] The onboard computer performs simulated flight tests through flight control software and binding data, performs attitude control calculations based on inertial product input, generates control results in real time, waits for a certain period of time for the AAC controller parameter kt calculation to stabilize, and then multiplies the control result by an AAC controller parameter kt. The final result is a servo control command signal.

[0024] During this process, the onboard computer outputs corresponding control instructions to the servo controller. The servo controller receives and responds to the instructions to complete the following control of the servo mechanism. The onboard computer also organizes the servo controller telemetry messages, including the servo mechanism position feedback signals.

[0025] Furthermore, the inertial product input refers to the actual inertial group pulse signal and rate gyro signal.

[0026] Furthermore, the real-time following and interpretation is performed, wherein the software acceptance result curve imported in step three is used as a parameter reference curve for the simulated flight test, and the changes in the AAC control parameter kt in the arrow control system and each single-machine simulated flight test and the changes in the servo mechanism instruction following are followed in real time, and an alarm is issued when inconsistency or attitude divergence error occurs.

[0027] In a second aspect, the present invention further proposes a processor, which is used to run a program, wherein the program executes the AAC controller parameter testing method based on simulated flight testing when running.

[0028] In a third aspect, the present invention further proposes a non-volatile storage medium, comprising: a computer program product, which, when executed, executes the AAC controller parameter testing method based on analog flight testing.

[0029] In a fourth aspect, the present invention further proposes a computer program product, which, when executed by a processor, implements the AAC controller parameter testing method based on analog flight testing.

[0030] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0031] (1) Compared with the traditional flight simulation test, without adding integration test, range test, powered flight simulation test items and test procedures, it is only necessary to change the binding data content to allow the rocket control system to evaluate the impact of AAC technology on each unit of the control system and the system stability during the flight phase during the powered flight simulation, thus avoiding the complexity and lag of the turntable use.

[0032] (2) In the AAC simulation flight binding data, the program angle change law of each channel attitude control is reasonably set to simulate the attitude control output when the rigid body control has a large deviation and the elastic parameter has a large deviation, which can fully cover the test conditions of increasing and decreasing the kt parameters and improve the coverage of ground tests.

[0033] (3) The flight control software acceptance test results can be realized in real time following the simulation flight test results, which improves the accuracy and reliability of real-time interpretation of test results, reduces the cost of manual test participation, and improves the test level of launch vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is the block diagram of the launch vehicle adaptive augmented control. DETAILED DESCRIPTION

[0035] The present invention will be described in further detail below with reference to the accompanying drawings.

[0036] The present invention proposes a method for testing parameters of an AAC controller based on a simulated flight test, comprising the following steps:

[0037] Step 1: Create binding data: According to the test requirements, determine the test parameter settings, simulate the influence of rigid body posture deviation and elastic deviation in different time periods, and generate binding data for simulated flight testing.

[0038] In the AAC simulation flight binding data, the program angle change rules of each channel attitude control are reasonably set to simulate the attitude control output when the rigid body control has large deviation and the elastic parameter has large deviation, which can fully cover the test conditions of increase and decrease of the following kt parameters and improve the coverage of ground tests.

[0039] As shown in Table 1 below, taking the pitch channel and yaw channel as an example, before the test begins, the test parameter settings are determined according to the test requirements to simulate the influence of rigid body attitude deviation and elastic deviation in different time periods. After the simulated flight time reaches t1, the program angle begins to change; in time period 1 (t1-t2), the program angle is changed by a trapezoidal wave to simulate the interference of strong winds during the rocket flight, resulting in a large attitude angle deviation; in time period 2 (t3-t4), the program angle changes to a sinusoidal interference signal with a high-frequency jitter at a certain frequency, with an amplitude of A and a frequency of f, which is used to simulate the high-frequency elastic interference received by the rocket during flight;

[0040] Table 1

[0041]

[0042] Step 2: Conduct flight control software acceptance

[0043] For the generated binding data used in the simulated flight test, a software acceptance test case is made and loaded into the software acceptance industrial computer. The simulated flight test is carried out based on the onboard computer and the software acceptance industrial computer to obtain the software acceptance result curve, which includes the AAC controller parameter kt curve and the servo mechanism control command curve;

[0044] The software acceptance test examples include simulated inertial group pulses and rate gyro signals; the software acceptance test hardware includes the onboard computer and the software acceptance industrial computer. Based on the above software and hardware, the acceptance test is completed to obtain the expected AAC controller parameter kt curve and servo mechanism control command curve.

[0045] Step 3: According to the software acceptance result curve of step 3, import it into the real-time automatic interpretation software, which mainly includes key parameters such as AAC controller parameter kt and servo mechanism control instructions, so as to facilitate real-time mirror following interpretation during the simulation flight test;

[0046] Step 4: The ground main control microcomputer runs the simulated flight test process, completes the self-check and powers on

[0047] According to the simulated flight test process, the control system's single-machine power distribution is completed, the fiber-optic strapdown inertial group is powered on and self-checked, and after the main control microcomputer determines that the self-check result is qualified, it enters the inertial group preheating state and completes the inertial group preheating.

[0048] Step 5: Bind the arrow machine simulation flight program and data

[0049] The binding data generated in step 1 is uploaded to the onboard computer, and then the onboard computer flight control software and the binding data are downloaded and compared to confirm the correctness of the flight control software and the correctness of the AAC parameter settings in the binding data. If they are all correct, proceed to step 6;

[0050] Step 6: Conduct simulation flight

[0051] The flight control software reads the bound data, and after the onboard computer completes the initial alignment and ignition for takeoff, it performs simulated flight attitude control and guidance solution. Based on the solidified attitude control program angle, the onboard computer flight control software calculates the AAC controller parameters in real time, and finally outputs the servo mechanism control instructions.

[0052] The onboard computer flight control software calculates the AAC controller parameters in real time, specifically:

[0053] The onboard computer performs simulated flight tests through flight control software and binding data, performs attitude control calculations according to inertial product input (inertial product input refers to real inertial group pulse signals and rate gyro signals), generates control results (Y3) in real time, waits for a certain period of time for the calculation of AAC controller parameter kt to stabilize, and then multiplies the control result (Y3) by an AAC controller parameter kt, and the final result is a servo control command signal;

[0054] During this process, the onboard computer outputs corresponding control instructions to the servo controller. The servo controller receives and responds to the instructions to complete the following control of the servo mechanism. The onboard computer also organizes the servo controller telemetry messages, including the servo mechanism position feedback signals.

[0055] like Figure 1 The figure shows the adaptive augmented control block diagram of the launch vehicle. The red area in the figure is the new content of the AAC controller compared to the traditional algorithm. By introducing the intermediate control variable Y3 of the attitude control operation, the AAC controller calculates and generates the adjustment parameter Kt. The two are multiplied, and the final result is the control command signal of the servo mechanism.

[0056] Step 7: Automatic Interpretation

[0057] In the automatic interpretation software, according to the software acceptance result curve imported in step 3 and the AAC controller parameters and servo mechanism control instructions obtained in step 6, real-time follow-up interpretation is performed to complete the AAC controller parameter test based on the simulated flight test.

[0058] Through real-time following and interpretation, the software acceptance result curve imported in step three is used as the parameter reference curve of the simulated flight test. The changes in the AAC control parameter kt in the onboard control system and each single-machine simulated flight test and the changes in the servo mechanism instruction following are followed in real time, and an alarm is issued when inconsistency or attitude divergence error occurs.

[0059] The present invention integrates the flight control software acceptance test results into real-time interpretation and following, and can follow in real time the changes in the AAC control parameter kt in the onboard control system and each single-machine simulated flight test, and the changes in the servo mechanism instruction following. It can realize real-time following of the simulated flight test results, improve the accuracy and reliability of real-time interpretation of the test results, reduce the cost of manual testing participation, and improve the level of intelligent testing of launch vehicles.

[0060] Compared with the traditional simulated flight test, the present invention does not increase the integrated test, range test, powered simulated flight test items and test procedures. It only needs to change the binding data content to enable the rocket control system to assess the influence of the AAC technology on each unit of the control system and the system stability during the powered simulated flight phase, thereby avoiding the complexity and lag of the turntable use.

[0061] Parts of the present invention that are not described in detail belong to common knowledge among those skilled in the art.

Claims

1. A method for testing parameters of an AAC controller based on simulated flight testing, characterized in that include: Step 1: Make binding data: According to the test requirements, determine the test parameter settings, simulate the influence of rigid body posture deviation and elastic deviation in different time periods, and generate binding data for simulated flight test; Step 2: Perform flight control software acceptance: For the generated binding data used for the simulated flight test, create a software acceptance test case, load it into the software acceptance industrial computer, and conduct a simulated flight test based on the onboard computer and the software acceptance industrial computer to obtain a software acceptance result curve, which includes the AAC controller parameter kt curve and the servo mechanism control command curve; Step 3: According to the software acceptance result curve, it is imported into the real-time automatic interpretation software for real-time mirror following interpretation during the simulation flight test; Step 4: The ground main control microcomputer runs the simulated flight test process, completes self-check and power-on; Step 5: Upload the binding data generated in step 1 to the onboard computer, then download the onboard computer flight control software and binding data, and compare them to confirm the correctness of the flight control software and the correctness of the AAC parameter settings in the binding data. If they are all correct, proceed to step 6; Step 6: The flight control software reads the bound data. After the onboard computer completes the initial alignment and ignition for takeoff, it performs simulated flight attitude control and guidance solution. According to the solidified attitude control program angle, the onboard computer flight control software calculates the AAC controller parameters in real time and finally outputs them as servo mechanism control instructions. Step 7: In the automatic interpretation software, according to the software acceptance result curve imported in step 3, and the AAC controller parameters and servo mechanism control instructions obtained in step 6, real-time follow-up interpretation is performed to complete the AAC controller parameter test based on the simulated flight test.

2. The AAC controller parameter testing method based on simulated flight test according to claim 1, characterized in that: Create binding data, specifically: For the pitch channel and yaw channel, before the test starts, the test parameter settings are determined according to the test requirements, and the influence of rigid body attitude deviation and elastic deviation is simulated in different time periods: in the first time period, that is, time t1~t2, the program angle is changed by a trapezoidal wave to simulate the strong wind interference during the rocket flight, resulting in a large attitude angle deviation; in the second time period, that is, time t3~t4, the program angle changes to a sinusoidal interference signal with a high-frequency jitter at a certain frequency, with an amplitude of A and a frequency of f, which is used to simulate the high-frequency elastic interference received by the rocket during flight.

3. The AAC controller parameter testing method based on simulated flight test according to claim 1, characterized in that: Software acceptance test cases include simulated inertial group pulses and rate gyro signals; The software acceptance test hardware includes an onboard computer and a software acceptance industrial computer. Based on the above hardware and software, the acceptance test is completed to obtain the expected AAC controller parameter kt curve and servo mechanism control command curve.

4. The AAC controller parameter testing method based on simulated flight test according to claim 1, characterized in that: The ground master microcomputer runs the simulated flight test process, completes self-check and power-on, specifically: According to the simulated flight test process, the control system's single-machine power distribution is completed, the fiber-optic strapdown inertial group is powered on and self-checked, and after the main control microcomputer determines that the self-check result is qualified, it enters the inertial group preheating state and completes the inertial group preheating.

5. The AAC controller parameter testing method based on simulated flight test according to claim 1, characterized in that: The onboard computer flight control software calculates the AAC controller parameters in real time, specifically: The onboard computer performs simulated flight tests through flight control software and binding data, performs attitude control calculations based on inertial product input, generates control results in real time, waits for a certain period of time for the AAC controller parameter kt calculation to stabilize, and then multiplies the control result by an AAC controller parameter kt. The final result is a servo control command signal. During this process, the onboard computer outputs corresponding control instructions to the servo controller. The servo controller receives and responds to the instructions to complete the following control of the servo mechanism. The onboard computer also organizes the servo controller telemetry messages, including the servo mechanism position feedback signals.

6. The AAC controller parameter testing method based on simulated flight test according to claim 5, characterized in that: Inertial product input refers to the actual inertial group pulse signal and rate gyro signal.

7. The AAC controller parameter testing method based on simulated flight test according to claim 1, characterized in that: The real-time following and interpretation is performed, wherein the software acceptance result curve imported in step three is used as a parameter reference curve for the simulated flight test, and the changes in the AAC control parameter kt and the servo mechanism instruction following changes in the arrow control system and each single-machine simulated flight test are followed in real time, and an alarm is issued when inconsistency or attitude divergence error occurs.

8. A processor, characterized in that: The processor is used to run a program, wherein the program, when running, executes the AAC controller parameter testing method based on analog flight testing according to any one of claims 1 to 7.

9. A non-volatile storage medium, characterized in that: include: A computer program product, when the computer program product is executed, performs the AAC controller parameter testing method based on analog flight test according to any one of claims 1 to 7.

10. A computer program product, characterized in that When the computer program product is executed by a processor, the AAC controller parameter testing method based on analog flight testing described in any one of claims 1 to 7 is implemented.

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