Three-dimensional visual simulation comprehensive training platform for shipborne large-scale antenna servo system

Abstract

The invention provides a three-dimensional visual simulation comprehensive training platform for a shipborne large antenna servo system, which comprises a space target and data introduction data simulation computer, an ACU simulation industrial personal computer and an antenna three-dimensional visual simulation server, and is characterized in that an ACU software module, a data acquisition module and a servo system model module are loaded in the ACU simulation industrial personal computer; compared with the prior art, the antenna three-dimensional visual simulation platform has the following beneficial effects that the training platform does not need to consider influence factors such as sea conditions, target spacecrafts and equipment conditions, and training can be carried out anytime and anywhere all day long; the system can simulate various functions of a servo system, is high in practicality, can meet the training demands of personnel at any time, and is good in application prospect.

Description

Technical Field

[0001] The invention belongs to the field of simulation comprehensive training equipment, and in particular relates to a three-dimensional visual simulation comprehensive training platform for a shipborne large-scale antenna servo system. Background Art

[0002] In recent years, with the rapid development of China's aerospace industry, maritime measurement and control tasks are becoming more and more onerous, showing a high-density, high-difficulty and high-intensity trend. As an important part of my country's aerospace measurement and control network, the shipborne radar (such as USB, ML3116) system is mainly responsible for the measurement, control and communication tasks of launch vehicles, satellites, and spacecraft. In the process of capturing and tracking target spacecraft, the radar servo operator currently relies mainly on the manual capture method of the waiting point, which places high demands on the operator's personal training level.

[0003] At present, the ship-borne radar servo operators can only be trained by tracking passing targets, which is a single method. However, due to the limitation of the ship's position, the number of passing targets that can be tracked is limited. Once the sea conditions are bad and the ship is shaking violently, due to the influence of the ship's shaking disturbance, in order to protect the antenna structure from damage, the USB servo system must lock and store the antenna structure, and training will not be possible at this time. Due to the high density of marine measurement and control tasks, in order to ensure the training of post technicians, an alternative training method must be sought.

[0004] At present, simulation training has been applied in various fields. Automobiles, aircraft, marine driving, etc. all have mature simulation training platforms, which have achieved twice the result with half the effort in training operators and have high economic benefits. The simulation operation training platform is also suitable for large-scale shipborne antenna servo operation. According to the characteristics of the servo system itself, a simulation operation platform combining real objects and three-dimensional vision has been developed for the training and training of operators. There is no need to consider the influencing factors such as sea conditions, target spacecraft, equipment conditions, etc. Training can be carried out anytime and anywhere around the clock, which is of great significance. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention aims to provide a three-dimensional visual simulation comprehensive training platform for a shipborne large antenna servo system to solve the problems raised in the above-mentioned background technology.

[0006] The present invention is realized by the following technical scheme: a shipborne large-scale antenna servo system three-dimensional scene simulation comprehensive training platform, comprising: a space target and digital data simulation computer, an ACU simulation industrial control computer, and an antenna three-dimensional scene simulation server, wherein the ACU simulation industrial control computer is loaded with an ACU software module, a data acquisition module, and a servo system model module; the antenna three-dimensional scene simulation server is loaded with an antenna three-dimensional scene module;

[0007] The output end of the space target and digital data simulation computer is connected to the input end of the ACU simulation industrial computer, and the output end of the ACU simulation industrial computer is connected to the input end of the antenna three-dimensional vision simulation server.

[0008] As a preferred implementation, the space target and digital data simulation computer generates real-time target data and digital data based on the target aircraft orbital parameters, and simultaneously simulates and generates inertial navigation data of the ocean dynamic platform to the ship under real sea conditions, and sends it to the ACU simulation industrial computer and the space orbit three-dimensional visual simulation server.

[0009] The ACU simulation industrial computer is equipped with a simulated operating console that is 1:1 with the actual ACU operating console. The hand joystick, azimuth code disk, pitch code disk, and various function buttons of the operating console are all set 1:1 according to the actual equipment. The ACU simulation industrial computer uses a 96-channel high-speed I / O digital acquisition module and a 4-channel pulse digital acquisition module. A 96-channel high-speed I / O digital acquisition module and a 4-channel pulse digital acquisition module together constitute the data acquisition module, which collects the status of the operating console hand lever, code disk, and buttons and feeds them back to the ACU simulation industrial computer. The ACU simulation industrial computer is also installed with an ACU software module. The ACU software module can simulate the real-time simulation display of various elements of the actual ACU. The servo operator can understand the antenna radar operating status in real time and obtain real-time feedback on the antenna radar operation by monitoring the antenna radar and target data information displayed on the ACU software module. The ACU software module obtains the real-time operation input of the servo operator through the data acquisition device installed on the ACU simulation industrial computer and processes the data.

[0010] As a preferred implementation, the servo system model module is a simulation model established according to the characteristics of the antenna radar servo system. The servo system model, as the object of ACU simulation control, is constructed through mechanism modeling, and relevant parameter identification and adjustment are performed using system identification methods to simulate the structure and characteristics of the actual servo system. The servo system model module is integrated into the ACU software module through system software to form a complete antenna radar servo system.

[0011] As a preferred implementation, the ACU software module displays various status information of the antenna radar and target feedback waveform and other data in real time. At the same time, the servo operator also issues control and work instructions to the antenna radar servo system through the ACU software module.

[0012] As a preferred implementation, the data acquisition module is used to collect various operation information of the operator and send it to the ACU simulation industrial computer. The data collected by the acquisition module mainly include: hand joystick data, pitch and azimuth code disk data and simulation function button data.

[0013] As a preferred embodiment, the antenna 3D vision simulation server is a hardware device used by the servo operator to observe the real-time motion state of the antenna radar. The antenna 3D vision simulation server simulates the real-time motion state of the antenna radar through 3D vision simulation. The servo operator obtains intuitive feedback information on the radar operation by monitoring the antenna 3D vision, making the simulation training more realistic.

[0014] The antenna 3D scene simulation server receives the antenna control data sent from the ACU simulation industrial computer. Through data analysis and processing operations, it drives the antenna radar 3D model to perform corresponding pitch or azimuth rotation according to the actual antenna mechanical transmission mechanism dynamics model, and gives the antenna's 3D dynamic scene image in real time through the display.

[0015] As a preferred implementation, the antenna three-dimensional vision module is used to receive antenna control data sent from the ACU simulation industrial computer, and through data analysis and processing operations, drives the antenna radar three-dimensional model to perform corresponding pitch or azimuth rotations according to the actual antenna mechanical transmission mechanism dynamics model, and gives the antenna's three-dimensional dynamic vision image in real time through the display. At the same time, it simulates the ship's three-dimensional model's rocking and ocean wave scenes under real sea conditions, and displays it through a three-dimensional screen. The vision image has a multi-angle switching function.

[0016] After adopting the above technical solution, the beneficial effects of the present invention are: the training platform does not need to consider the influencing factors such as sea conditions, target spacecraft, equipment conditions, etc., and can conduct training anytime and anywhere around the clock;

[0017] It can simulate various functions of the servo system, has high practicality, can meet the training needs of personnel at any time, and has good application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0019] Figure 1 The present invention is a system block diagram of a three-dimensional visual simulation comprehensive training platform for a large-scale shipborne antenna servo system.

[0020] Figure 2 The present invention is an operation flow chart of a three-dimensional visual simulation comprehensive training platform for a shipborne large-scale antenna servo system. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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 are within the scope of protection of the present invention.

[0022] See also Figure 1 The present invention provides a technical solution: a shipborne large-scale antenna servo system three-dimensional scene simulation comprehensive training platform, including: a space target and digital data simulation computer, an ACU simulation industrial computer, and an antenna three-dimensional scene simulation server. The ACU simulation industrial computer is loaded with an ACU software module, a data acquisition module, and a servo system model module; the antenna three-dimensional scene simulation server is loaded with an antenna three-dimensional scene module;

[0023] The output end of the space target and digital data simulation computer is connected to the input end of the ACU simulation industrial computer, and the output end of the ACU simulation industrial computer is connected to the input end of the antenna three-dimensional vision simulation server.

[0024] The space target and digital data simulation computer is a device for simulating space target data and antenna radar digital data. In system simulation and simulation training, there is usually no actual aircraft target to be measured and controlled for the system to observe. Therefore, it is necessary to use the existing relevant information to simulate the information data of the space target aircraft through the computer. At the same time, the biggest difference between the large ship-borne antenna and the antenna radar of the land base station is that the large ship-borne antenna is installed on the ocean xxx. The ship sailing in the ocean will sway and sink due to the impact of the surge. Generally, when the wind is 7 to 8 and the wave is 6, the roll angle of a ship of 1,000 to 2,000 tons can reach ±26 degrees and the pitch angle can reach ±7 degrees. The satellite communication antenna installed on the ship will also sway, especially the roll, pitch and heading angle changes will cause the antenna to deviate from the satellite target and interrupt the communication. Therefore, the space target and digital data simulation computer generates real-time target data and digital data according to the orbital parameters of the target aircraft, and at the same time simulates and generates the inertial navigation data of the ocean dynamic platform to the ship under real sea conditions, and sends it to the ACU simulation industrial computer and the space orbit three-dimensional visual simulation server.

[0025] The ACU simulation industrial computer is the most important system module of the entire system and is also the control platform for the servo operator to interact with the simulation training platform system. In the actual equipment, the servo operator controls the direction and movement of the antenna radar by operating the joystick and encoder on the ACU simulation industrial computer. In addition, the servo operator also uses the control buttons on the ACU console to set the working mode of the antenna radar.

[0026] The ACU simulation industrial computer is equipped with a simulated operating console that is 1:1 with the actual ACU operating console. The hand joystick, azimuth code disk, pitch code disk, and various function buttons of the operating console are all set 1:1 according to the actual equipment. The ACU simulation industrial computer uses a 96-channel high-speed I / O digital acquisition module and a 4-channel pulse digital acquisition module. A 96-channel high-speed I / O digital acquisition module and a 4-channel pulse digital acquisition module together constitute the data acquisition module, which collects the status of the operating console hand lever, code disk, and buttons and feeds them back to the ACU simulation industrial computer. The ACU simulation industrial computer is also installed with an ACU software module. The ACU software module can simulate the real-time simulation display of various elements of the actual ACU. The servo operator can understand the antenna radar operating status in real time and obtain real-time feedback on the antenna radar operation by monitoring the antenna radar and target data information displayed on the ACU software module. The ACU software module obtains the real-time operation input of the servo operator through the data acquisition device installed on the ACU simulation industrial computer and processes the data. The ACU simulation industrial computer is also responsible for integrating the antenna radar servo system model and the antenna mechanical transmission mechanism dynamics model to achieve dynamic simulation control of large antennas.

[0027] The servo system model module is a simulation model established according to the characteristics of the antenna radar servo system. The servo system model, as the object of ACU simulation control, is built through mechanism modeling, and the relevant parameters are identified and adjusted using the system identification method to simulate the structure and characteristics of the actual servo system. The servo system model module is integrated into the ACU software module through the system software to form a complete antenna radar servo system.

[0028] The ACU software module displays the status information of the antenna radar and target feedback waveform and other data in real time. At the same time, the servo operator also issues control and work instructions to the antenna radar servo system through the ACU software module.

[0029] In addition to simulating the control and monitoring functions of the installed ACU equipment, the ACU software module can also simulate abnormal conditions during the operation of the antenna radar equipment and make intelligent judgments on the abnormal conditions. In addition, the ACU software module also provides an evaluation function for the training effect of the servo operator, so that the servo operator can quickly and intuitively obtain information on the training effect after the simulation training, which is conducive to improving the simulation training efficiency of the servo operator.

[0030] The data acquisition module is used to collect various operation information of the operator and send it to the ACU simulation industrial computer. The data collected by the acquisition module mainly include: hand joystick data, pitch and azimuth encoder data and simulation function button data.

[0031] The antenna 3D vision simulation server is a hardware device used by servo operators to observe the real-time motion status of antenna radar. Since servo operators usually control radar in the radar control room on the ocean, on actual equipment, servo operators usually monitor antenna radar in real time through cameras installed on the deck of the ship. The antenna 3D vision simulation server simulates the real-time motion status of antenna radar through 3D vision simulation. Servo operators obtain intuitive feedback information on radar operation by monitoring the antenna 3D vision, making simulation training more realistic.

[0032] The antenna 3D visual simulation server receives antenna control data sent from the ACU simulation industrial computer, and drives the antenna radar 3D model to perform corresponding pitch or azimuth rotation according to the actual antenna mechanical transmission mechanism dynamics model through data analysis and processing operations, and gives the antenna's 3D dynamic visual image in real time through the display. The visual simulation has a multi-angle switching function for easy observation.

[0033] The antenna 3D vision module is used to receive antenna control data sent from the ACU simulation industrial computer. Through data analysis and processing, it drives the antenna radar 3D model to perform corresponding pitch or azimuth rotation according to the actual antenna mechanical transmission mechanism dynamics model. The 3D dynamic vision image of the antenna is given in real time through the display. At the same time, the ship swaying and ocean wave scenes of the 3D model of the ship under real sea conditions are simulated. Through the 3D screen display, the vision image has a multi-angle switching function.

[0034] See also Figure 2 , as an embodiment of the present invention: it also includes a space orbit three-dimensional simulation computer.

[0035] The space target and digital data simulation computer generates real-time target data and inertial navigation data under sea level disturbance through calculation. The target data is calculated based on the orbit model and theoretical trajectory, and under the action of the clock, the target data is sent to the ACU simulation industrial computer at a specified rate and protocol. The data sent mainly include the target azimuth and pitch data in the geodetic coordinate system. At the same time, the space target and digital data simulation computer can also simulate the sea conditions, ship rolling and inertial navigation characteristics of the ocean-going ship according to the actual situation, and send relevant data to the ACU simulation industrial computer in the same way.

[0036] The space orbit three-dimensional simulation computer also receives target data to simulate the spatial position and attitude of the target aircraft in a three-dimensional scene.

[0037] The ACU simulation console consists of a 1:1 simulation console and a simulation computer. The operator controls the antenna through the simulation console, and the data acquisition module sends the collected control data of the simulation console to the simulation computer. The ACU software module loaded on the ACU simulation console receives the control input of the joystick encoder on the simulation console, and transmits the antenna control instructions and working mode information to the control model of the antenna servo system through data analysis and processing. The antenna radar servo system can obtain the corresponding antenna azimuth and pointing output in real time through calculation. At the same time, the ACU software module displays the overall status information of the antenna radar servo system and feedback information such as target tracking waveform on the display in real time. The ACU simulation industrial computer sends the obtained antenna pitch and azimuth information to the antenna power three-dimensional vision simulation server.

[0038] The antenna dynamic 3D vision simulation server receives the antenna pitch and azimuth information and transmits it to the antenna 3D vision module through data processing. The antenna 3D vision module drives the antenna 3D model to perform azimuth and pitch movements in the 3D vision, simulating the antenna radar movement scene actually seen by the servo operator.

[0039] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A three-dimensional visual simulation comprehensive training platform for a large shipborne antenna servo system, comprising: Space target and digital data simulation computer, ACU simulation industrial computer, antenna three-dimensional vision simulation server, characterized in that the ACU simulation industrial computer is loaded with ACU software module, data acquisition module and servo system model module; the antenna three-dimensional vision simulation server is loaded with antenna three-dimensional vision module; The output end of the space target and digital data simulation computer is connected to the input end of the ACU simulation industrial computer, and the output end of the ACU simulation industrial computer is connected to the input end of the antenna three-dimensional vision simulation server.

2. A three-dimensional visual simulation comprehensive training platform for a large-scale shipborne antenna servo system as claimed in claim 1, characterized in that: The space target and digital data simulation computer generates real-time target data and digital data based on the orbital parameters of the target aircraft. At the same time, it simulates and generates the inertial navigation data of the ocean dynamic platform to the ship under real sea conditions, and sends it to the ACU simulation industrial computer and the space orbit three-dimensional visual simulation server.

3. A three-dimensional visual simulation comprehensive training platform for a large shipborne antenna servo system as claimed in claim 1, characterized in that: The ACU simulation industrial computer is equipped with a simulated operating console that is 1:1 with the actual ACU operating console. The hand joystick, azimuth code disk, pitch code disk, and various function buttons of the operating console are all set 1:1 according to the actual equipment. The ACU simulation industrial computer uses a 96-channel high-speed I / O digital acquisition module and a 4-channel pulse digital acquisition module. A 96-channel high-speed I / O digital acquisition module and a 4-channel pulse digital acquisition module together constitute the data acquisition module, which collects the status of the operating console hand lever, code disk, and buttons and feeds them back to the ACU simulation industrial computer. The ACU simulation industrial computer is also installed with an ACU software module. The ACU software module can simulate the real-time simulation display of various elements of the actual ACU. The servo operator can understand the antenna radar operating status in real time and obtain real-time feedback on the antenna radar operation by monitoring the antenna radar and target data information displayed on the ACU software module. The ACU software module obtains the real-time operation input of the servo operator through the data acquisition device installed on the ACU simulation industrial computer and processes the data.

4. A three-dimensional visual simulation comprehensive training platform for a large shipborne antenna servo system as claimed in claim 3, characterized in that: The servo system model module is a simulation model established according to the characteristics of the antenna radar servo system. The servo system model, as the object of ACU simulation control, is built through mechanism modeling, and the relevant parameters are identified and adjusted using the system identification method to simulate the structure and characteristics of the actual servo system. The servo system model module is integrated into the ACU software module through the system software to form a complete antenna radar servo system.

5. A three-dimensional visual simulation comprehensive training platform for a large shipborne antenna servo system as claimed in claim 4, characterized in that: The ACU software module displays the antenna radar's various status information and target feedback waveform and other data in real time. At the same time, the servo operator also issues control and work instructions to the antenna radar servo system through the ACU software module.

6. A three-dimensional visual simulation comprehensive training platform for a large shipborne antenna servo system as claimed in claim 5, characterized in that: The data acquisition module is used to collect various operation information of the operator and send it to the ACU simulation industrial computer. The data collected by the acquisition module mainly include: hand joystick data, pitch and azimuth encoder data and simulation function button data.

7. A three-dimensional visual simulation comprehensive training platform for a large shipborne antenna servo system as claimed in claim 1, characterized in that: The antenna 3D vision simulation server is a hardware device used by servo operators to observe the real-time motion state of antenna radar. The antenna 3D vision simulation server simulates the real-time motion state of antenna radar through 3D vision simulation. The servo operator obtains intuitive feedback information on radar operation by monitoring the antenna 3D vision, making the simulation training more realistic. The antenna 3D scene simulation server receives the antenna control data sent from the ACU simulation industrial computer. Through data analysis and processing operations, it drives the antenna radar 3D model to perform corresponding pitch or azimuth rotation according to the actual antenna mechanical transmission mechanism dynamics model, and gives the antenna's 3D dynamic scene image in real time through the display.

8. A three-dimensional visual simulation comprehensive training platform for a large shipborne antenna servo system as claimed in claim 7, characterized in that: The antenna three-dimensional vision module is used to receive antenna control data sent from the ACU simulation industrial computer. Through data analysis, processing and calculation, it drives the antenna radar three-dimensional model to perform corresponding pitch or azimuth rotation according to the actual antenna mechanical transmission mechanism dynamics model. The three-dimensional dynamic vision image of the antenna is given in real time through the display. At the same time, the ship's three-dimensional model of the ship and ocean wave scenes under real sea conditions are simulated. Through the three-dimensional screen display, the vision image has a multi-angle switching function.

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