Semi-physical simulation system and method for gliding extended-range guided aircraft

Abstract

The invention discloses a semi-physical simulation system and method for a gliding extended-range guided aircraft. The simulation equipment comprises a rolling motion simulation turntable system, an electric steering engine load simulation system, a sensor measurement system, an information setting module, a gliding extended-range guidance aircraft trajectory calculation module, a data communication module, a data display and system evaluation module and the like. Missile-borne test parts comprise a missile-borne flight control computer and the like. The information setting module sets trajectory initial information and pulling deviation information, and the gliding extended-range guided aircraft trajectory resolving module calculates aircraft trajectory information and sends the aircraft trajectory information to the rolling motion simulation turntable system, the electric steering engine load simulation system and the missile-borne flight control computer; the missile-borne flight control computer performs trajectory control according to a preset control strategy to obtain a lift airfoil angle control instruction, and the lift airfoil angle control instruction is controlled to a target angle by a double-rotation electric steering engine; the data display and evaluation module collects related simulation and control data, and evaluates, detects and optimizes missile-borne tested parts.

Description

Technical Field

[0001] The invention belongs to the technical field of semi-physical simulation of gliding extended-range guided aircraft, and in particular relates to a semi-physical simulation system and method for flight control of a gliding extended-range guided aircraft. Background Art

[0002] Complex application scenarios place high demands on the cost-effectiveness and precision control performance of weapons and ammunition, prompting modern weapons and ammunition to develop in the direction of precision control and long-range targeting. In recent years, with the rapid development of electronic information technology, the development of precision-guided munitions has attracted widespread attention from military powers.

[0003] For a type of gliding extended-range guided aircraft with an isolated rotation control cabin installed in the middle of an uncontrolled ammunition, the relevant authorized patent documents CN113790636B, CN113899255B, and CN113899254B, wherein the control cabin and the aircraft are connected by bearings to form a double-rotation structure layout, and the control cabin is provided with a pair of foldable offset lift wing surfaces; the control cabin is composed of a state measurement device and a control system, and the flight control system obtains the lift wing surface roll angle control instructions required for ballistic control according to the flight state information, controls the roll angle of the lift wing surface relative to the launch coordinate system through the electric servo, thereby changing the direction of the aerodynamic force acting on the lift wing surface, and performing two-dimensional ballistic control in the pitch and yaw directions, thereby achieving the gliding extended-range of the aircraft and improving the landing point hit accuracy of the gliding extended-range guided aircraft.

[0004] Semi-physical simulation systems have important engineering significance in the development of new precision-guided munitions, especially gliding extended-range guided vehicles. They are crucial for verifying and optimizing the overall design and system hardware and software systems, ensuring the accuracy of the control system, the flight stability of the vehicle, and the reliability of the hardware and software systems under various flight conditions. At present, most of the semi-physical simulation systems for gliding extended-range guided vehicles conduct desktop validity verification on the onboard computers of the test missiles, but do not conduct turntable tests to simulate the flight attitude; or simulate the rolling motion and control of the trajectory correction fuze through turntable tests, but do not conduct full-trajectory semi-physical simulation test verification, and do not involve verification of trajectory control and flight stability; for gliding extended-range guided vehicles, semi-physical systems and methods for full-trajectory simulation of the onboard computers of the test missiles based on flight simulation turntable technology have not been reported in the patents or published literature that have been disclosed so far. Summary of the invention

[0005] The technology of the present invention solves the problem:

[0006] To overcome the shortcomings of the existing technology, a semi-physical simulation system and method for a gliding extended-range guided aircraft is provided to evaluate, detect and optimize the onboard test components, laying the foundation for subsequent flight tests.

[0007] The technical solution of the present invention:

[0008] A semi-physical simulation system for a glide-extended-range guided aircraft, the simulation equipment includes: a rolling motion simulation turntable system, an electric servo load simulation system, a sensor measurement system, an information setting module, a glide-extended-range guided aircraft trajectory calculation module, a data communication module, a data display and system evaluation module, and a PC-side host computer;

[0009] The missile-borne test components include: aircraft, lifting wing surfaces, dual-rotation electric servos, missile-borne flight control computer, missile-borne dual-rotation electric servos control computer, and missile-borne attitude measurement system.

[0010] The rolling motion simulation turntable system simulates the rolling moment and rolling motion response acting on the aircraft during the actual flight of the glide extended-range guided aircraft;

[0011] The electric servo load simulation system simulates the aerodynamic load torque acting on the lift wing surface during the trajectory control of the gliding extended-range guided aircraft, and serves as the load torque for the dual-rotation electric servo control;

[0012] The sensor measurement system includes an aircraft angle sensor and a lift wing angle sensor. The aircraft angle sensor measures the roll angle and rotation speed of the aircraft, and the lift wing angle sensor measures the roll angle and rotation speed of the lift wing, and feeds back to the trajectory calculation module of the gliding extended-range guided aircraft in real time.

[0013] The information setting module includes a trajectory information setting module and a deviation setting module, which are integrated on the PC host computer in the form of setting software, and send the initial trajectory setting information and the deviation setting information through the data communication module and set them to the trajectory calculation module of the glide extended range guided aircraft and the missile-borne flight control computer;

[0014] The glide extended-range guided aircraft trajectory calculation module generates the trajectory information of the aircraft at the next moment based on the ballistic equation according to the initial setting information, the trajectory information at the current moment, the aircraft and lift wing surface angle and speed information fed back by the sensor measurement system, and sends it to the rolling motion simulation turntable system, the electric steering gear load simulation system, and the missile-borne flight control computer in real time;

[0015] The dual-rotation electric servo includes a rotor and a stator, the aircraft is fixedly connected to the rotor, and the lift wing surface is fixedly connected to the stator;

[0016] The missile-borne flight control computer performs trajectory control according to a predetermined control strategy based on the launch point and target landing point information set by the trajectory information setting module and the flight status information sent by the glide extended-range guided aircraft trajectory calculation module, obtains the lift wing surface roll angle control instruction required for trajectory control, and sends it to the missile-borne dual-rotation electric servo control computer according to the flight control cycle;

[0017] The missile-borne dual-rotation electric servo control computer receives the lift wing surface roll angle control instruction, and the missile-borne attitude measurement system provides lift wing surface roll angle and speed feedback for dual-rotation electric servo control, and performs lift wing surface roll angle control according to a predetermined angle control algorithm; at the same time, the sensor measurement system feeds back the real-time measurement value to the glide extended-range guided aircraft trajectory solution module, and the system forms a closed-loop simulation;

[0018] The data display and system evaluation module includes a real-time display module and a system evaluation module, which are integrated on a PC host computer in the form of real-scene simulation software. The data communication module collects the trajectory simulation data output by the glide extended-range guided aircraft trajectory calculation module and the dual-rotation electric servo control data output by the missile-borne dual-rotation electric servo control computer; and the missile-borne test components are evaluated, tested and optimized based on the data.

[0019] The rolling motion simulation turntable system is driven by an aircraft roll torque motor. The aircraft roll torque motor controller, the aircraft roll torque motor driving element, and the aircraft roll torque motor current sensor are integrated with the aircraft roll torque motor torque servo control system. The glide extended-range guided aircraft trajectory solution module sends torque information acting in the aircraft roll direction to the rolling motion simulation turntable system in real time, and the rolling torque loading is realized between the aircraft and the aircraft roll torque motor through a coupling.

[0020] Preferably, the electric servo load simulation system is driven by a servo load torque motor, and the servo load torque motor controller, the servo load torque motor drive element, and the servo load torque motor current sensor are integrated with the servo load torque motor torque servo control system. The glide extended-range guided aircraft trajectory solution module sends the torque information acting on the lift wing surface to the electric servo load simulation system in real time, and the servo load torque motor realizes aerodynamic load torque loading on the lift wing surface through a gear transmission system.

[0021] Preferably, the trajectory information initial setting module in the information setting module includes trajectory simulation initial information (initial velocity, trajectory inclination, trajectory deflection, rotation speed, position, attitude angle, etc.), launch point information (longitude, latitude, altitude and launch azimuth of the launch point), target landing point information (longitude, latitude, altitude of the target landing point), and meteorological information (air pressure, virtual temperature, wind speed, wind direction, etc.); the trajectory information initial setting module transmits the trajectory simulation initial information and meteorological information to the data communication module and sets them to the glide extended range guided aircraft trajectory solution module, and the trajectory information initial setting module transmits the launch point information and target landing point information to the data communication module and sets them to the missile-borne flight control computer;

[0022] Preferably, the deviation item setting module in the information setting module includes launch condition deviation items (launch initial velocity deviation items, initial shooting angle deviation items, initial deflection angle deviation items), environmental factor deviation items (wind speed deviation items, wind direction deviation items, etc.), aerodynamic parameter deviation items (lift coefficient deviation items, drag coefficient deviation items, etc.), receiver data deviation items (longitude deviation items, latitude deviation items, altitude deviation items, north velocity deviation items, celestial velocity deviation items, east velocity deviation items), and uses a random number pattern to generate parameter deviation values; the deviation item setting module transmits the deviation item setting information to the data communication module and sets it to the glide extended-range guided vehicle trajectory solution module.

[0023] Preferably, the sensor measurement system is one or a combination of multiple types of sensors such as an encoder, a geomagnetic sensor, a tilt sensor, and an inertial sensor.

[0024] Preferably, the glide extended-range guided aircraft trajectory solution module adopts a staged ballistic simulation model. From the launch point to the lift surface deployment point, the aircraft flies by inertia and is solved using the six-degree-of-freedom rigid body ballistic equation. After the lift surface is deployed, the aircraft begins to execute ballistic control until landing and is solved using the seven-degree-of-freedom ballistic equation.

[0025] Preferably, the trajectory calculation module of the glide extended-range guided aircraft includes an aerodynamic model, a flight dynamics model and a numerical calculation model based on a proxy model;

[0026] Among them, the CFD simulation data under different flight conditions is used as the training set of the proxy model, and the proxy model of the aerodynamic model is one or a combination of the polynomial regression model, the Kriging model, and the support vector machine regression model. The aerodynamic model based on the proxy model can effectively release the hardware solution resources of the ballistic solution module of the glide extended-range guided aircraft;

[0027] Among them, the numerical calculation model is one of the Euler method, improved Euler method, Runge-Kutta method, difference method and the like.

[0028] Preferably, the glide extended-range guided aircraft trajectory calculation module converts the flight status information to be sent to the missile-borne flight control computer according to the communication protocol of the satellite receiver, and the method is as follows: coordinate conversion is performed on the aircraft position information output by the glide extended-range guided aircraft trajectory calculation module, and the specific conversion process is: launch coordinate system->WGS-84 geocentric rectangular coordinate system->WGS-84 geodetic coordinate system, and the longitude, latitude, and altitude of the aircraft are obtained in real time; according to the flight speed, ballistic inclination, and ballistic deflection of the aircraft in the ballistic coordinate system, the flight speed of the aircraft is converted in coordinates, and the specific conversion process is: ballistic coordinate system->launch coordinate system->North Celestial East coordinate system, and the northward speed, celestial speed, and eastward speed of the aircraft are obtained in real time; the longitude and latitude information of the converted aircraft and the speed information in the North Celestial East coordinate system are sent to the missile-borne flight control computer according to the predetermined satellite receiver communication protocol.

[0029] Preferably, the missile-borne dual-rotation electric servo control computer adopts an angle control strategy based on space vector modulation technology and magnetic field oriented control technology, and the control algorithm includes but is not limited to PID algorithm, anti-disturbance control algorithm, sliding mode control algorithm, model predictive control algorithm, etc.

[0030] Preferably, the missile-borne attitude measurement system is a combination of an encoder, a geomagnetic sensor, an inertial sensor, and a satellite receiver.

[0031] Preferably, the trajectory control strategy adopted by the missile-borne flight control computer includes but is not limited to a control strategy based on proportional guidance law, a control strategy based on modified proportional guidance law, a control strategy based on trajectory tracking guidance law, a control strategy based on landing point prediction control, a control strategy based on perturbation control, a control strategy based on optimal guidance law, etc.

[0032] Preferably, the real-time display module and the system evaluation module collect the flight status data obtained by iterative solution of the glide extended-range guided aircraft trajectory solution module through the data communication module, and display the trajectory curve, landing point information (landing point deviation, landing speed, landing inclination angle), flight attitude information (angle of attack, sideslip angle), etc. in real time; the real-time display module and the system evaluation module collect the dual-rotation electric servo control status information (current, voltage, lift surface speed, lift surface roll angle, etc.) output by the missile-borne dual-rotation electric servo control computer and the lift surface roll angle control command sent by the missile-borne flight control computer to the missile-borne dual-rotation electric servo control computer through the data communication module, and display them in real time in the visual simulation software on the PC host computer, and evaluate, detect and optimize the missile-borne test components based on the data.

[0033] The present invention provides a semi-physical simulation method for a gliding extended-range guided aircraft. Based on the semi-physical simulation system described above, the missile-borne test components are evaluated and tested. The specific implementation steps are as follows:

[0034] The first step is to select the mission mode according to the test requirements. The glide-range extended guided vehicle includes three mission modes: glide-range extended, landing point control, and glide-range extended and landing point control.

[0035] The second step is that the power supply system works and the system is initialized;

[0036] The third step is to input the setting information into the information setting module in the PC host computer, including the initial information of trajectory simulation, launch point information, target landing point information, and weather information;

[0037] The fourth step is to set the initial information of trajectory simulation and meteorological information to the trajectory calculation module of the glide extended range guided aircraft through the data communication module, set the launch point information and target landing point information to the missile-borne flight control computer, click the launch button, and the system starts simulation;

[0038] Step 5: The trajectory calculation module of the glide-range extended-guided aircraft generates the trajectory information of the aircraft at the next moment based on the ballistic equation according to the initial setting information, the trajectory information at the current moment, the rolling angle and speed information of the aircraft and the lift wing surface fed back by the sensor measurement system, and the trajectory calculation module of the glide-range extended-guided aircraft determines whether it has landed. If so, the main simulation process ends; if not, the trajectory information of the aircraft at the next moment is sent to the rolling motion simulation turntable system, the electric servo load simulation system, and the missile-borne flight control computer in real time;

[0039] Step 6: The missile-borne flight control computer performs trajectory control calculation according to the launch point and target landing point information set by the trajectory information setting module and the flight status information sent by the glide extended-range guided aircraft trajectory calculation module, and obtains the lift wing surface roll angle control instruction required for trajectory control, and sends it to the missile-borne dual-rotation electric servo control computer according to the flight control cycle;

[0040] Step 7: The missile-borne dual-rotation electric servo control computer receives the lift wing roll angle control command, and the missile-borne attitude measurement system provides lift wing roll angle and speed feedback for dual-rotation electric servo control, and performs lift wing angle control according to a predetermined angle control algorithm; at the same time, the sensor measurement system feeds back the real-time measurement value to the glide extended-range guided vehicle trajectory calculation module, and repeats the above steps 5 to 7, and the system forms a closed-loop simulation until the main simulation process ends;

[0041] In the eighth step, the data display and evaluation module collects the ballistic simulation data output by the glide extended-range guided vehicle trajectory calculation module and the dual-rotation electric servo control data output by the missile-borne dual-rotation electric servo control computer through the data communication module; and evaluates, detects and optimizes the missile-borne test components based on the data.

[0042] Preferably, the present invention can also perform a simulation calculation of the pull-off based on the Monte Carlo method, and the specific method is as follows:

[0043] In the third and fourth steps above, in the information setting module, the deviation item setting module is additionally set, including the launch condition deviation, environmental factor deviation, aerodynamic parameter deviation, and receiver data deviation; the deviation sample number and parameter deviation range are selected, and the parameter deviation value is generated by using a random number mode, and multiple groups of parameter deviation values ​​are cyclically generated, and are set to the glide extended range guided vehicle trajectory solution module through the data communication module;

[0044] Repeat steps 5 to 8 above;

[0045] By observing the statistical laws of real-time display module data, the flight control system, dual-rotation electric servo control system, and aircraft flight stability are evaluated and optimized;

[0046] For example, by statistically analyzing the deviation patterns between the controlled landing point and the target landing point, the effectiveness and robustness of the flight control algorithm can be evaluated, and the trajectory control strategy and flight control algorithm can be further optimized; the response time, overshoot and fluctuation degree of the lift surface angle control can be statistically analyzed to evaluate the effectiveness and stability of the dual-rotation electric servo control algorithm and improve the servo control algorithm.

[0047] The semi-physical simulation system of the gliding extended-range guided aircraft provided by the present invention mainly has the following application scenarios:

[0048] 1) The nonlinear coupling relationship between the dual-rotation electric servo of a gliding extended-range guided aircraft and the aircraft motion will induce high-frequency fluctuations in the aircraft speed and the aerodynamic load torque acting on the lift wing surface, thereby bringing inevitable external interference to the control of the dual-rotation electric servo, making the anti-disturbance control of the dual-rotation electric servo more difficult; the present invention can be used for the verification and optimization of the control of the missile-borne dual-rotation electric servo of a gliding extended-range guided aircraft under various flight conditions;

[0049] 2) During the trajectory control process of the glide extended-range guided aircraft, the control of the missile-borne dual-rotation electric servo will directly cause drastic changes in the short-period dynamic characteristics of the aircraft, such as the total angle of attack and the aircraft speed, thereby affecting the dynamic stability of the aircraft and the control performance of the dual-rotation electric servo; the present invention can be used for the research and verification of the dynamic flight stability of the glide extended-range guided aircraft under various flight conditions;

[0050] 3) The tactical goal of the glide-extended-range guided aircraft is to achieve glide-extended range of the aircraft while improving the accuracy of the landing point; the present invention can be used for the verification and optimization of the trajectory control strategy and flight control algorithm of the glide-extended-range guided aircraft under various flight conditions;

[0051] 4) The onboard software and hardware system of the glide extended-range guided aircraft includes an onboard flight control computer, an onboard dual-rotation electric servo control computer, an onboard attitude measurement system, etc. The reliability verification of the integrated system is a key step to ensure the normal operation of the aircraft under various operating environments and mission conditions. The present invention can be used for the reliability verification of the onboard software and hardware system of the glide extended-range guided aircraft under various ballistic flight conditions.

[0052] The beneficial effects of the present invention are:

[0053] 1) The semi-physical simulation system and method of a gliding extended-range guided aircraft of the present invention, with an added pull-bias item, can be used to evaluate the stability and effectiveness of a dual-rotation electric servo control system and a flight control system, optimize the dual-rotation electric servo control and flight control strategy and algorithm design; evaluate the flight stability of the aircraft, guide the overall plan and aerodynamic layout design of the aircraft; evaluate the software and hardware reliability of the onboard test components, promptly discover possible failure modes and potential problems of the aircraft, and lay the foundation for flight tests.

[0054] 2) A semi-physical simulation system and method for a gliding extended-range guided aircraft of the present invention, in a staged trajectory simulation model adopted by a trajectory solution module of a gliding extended-range guided aircraft, an aerodynamic model based on a proxy model releases hardware solution resources while ensuring the accuracy of the aerodynamic model and trajectory simulation, thereby meeting the real-time and accuracy requirements of the system.

[0055] 3) In the semi-physical simulation system and method of a gliding extended-range guided aircraft of the present invention, the processing programs of each module are integrated in the MCU, serial communication is adopted between modules, and a real-time simulator and complex network interface technology are not used. The structure is simple and the system development cost is reduced while meeting the system function and real-time requirements.

[0056] 4) The semi-physical simulation system and method of a gliding extended-range guided aircraft of the present invention is also applicable to the verification of the servo control performance, trajectory control strategy and flight control algorithm evaluation of double-spin correction aircraft, two-dimensional correction aircraft and fixed rudder correction fuze, etc., covering a wide range and having strong applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 It is the overall structural block diagram of the semi-physical simulation system of the gliding extended-range guided aircraft of the present invention;

[0058] Figure 2 It is a schematic diagram of the missile-borne test components of the semi-physical simulation system of the gliding extended-range guided aircraft of the present invention;

[0059] Figure 3 This is a principle block diagram of the rolling motion simulation turntable system of the semi-physical simulation system of the gliding extended-range guided aircraft of the present invention;

[0060] Figure 4 This is a principle block diagram of the electric servo load model system of the glide extended range guided aircraft semi-physical simulation system of the present invention;

[0061] Figure 5 It is a schematic diagram of the PC-side host computer of the semi-physical simulation system of the gliding extended-range guided aircraft of the present invention;

[0062] Figure 6 The present invention is a flowchart of the semi-physical simulation system of the gliding extended-range guided aircraft. DETAILED DESCRIPTION

[0063] The following is combined with Figure 1-6 The present invention is described in detail with reference to the accompanying drawings and embodiments.

[0064] like Figure 1 As shown, a semi-physical simulation system for a glide-extended-range guided aircraft, the simulation equipment includes: a rolling motion simulation turntable system (1), an electric servo load simulation system (2), a sensor measurement system (3), an information setting module (4), a glide-extended-range guided aircraft trajectory calculation module (5), a data communication module (6), a data display and system evaluation module (7), and a PC-side host computer (8); Figure 2 As shown, the missile-borne test components (9) include: an aircraft (10), a lift wing surface (11), a dual-rotation electric servo (12), a missile-borne flight control computer (13), a missile-borne dual-rotation electric servo control computer (14), and a missile-borne attitude measurement system (15).

[0065] Wherein, the rolling motion simulation turntable system (1) is as follows Figure 3 As shown, the rolling moment and rolling motion response acting on the aircraft during the actual flight of the gliding extended-range guided aircraft are simulated, and the rolling moment information acting on the aircraft transmitted by the gliding extended-range guided aircraft trajectory solution module is received in real time.

[0066] The rolling motion simulation turntable system (1) is driven by an aircraft rolling torque motor (24) (a DC brushed torque motor or a three-phase AC permanent magnet synchronous torque motor), an MCU is used as a main control chip, an aircraft rolling torque motor controller (25), an aircraft rolling torque motor driving element (26), and an aircraft rolling torque motor current sensor (27) are integrated with an aircraft rolling torque motor torque servo control system, a glide extended range guided aircraft trajectory calculation module (5) sends torque information acting in the rolling direction of the aircraft to the rolling motion simulation turntable system in real time through an RS485 serial port, and torque loading is achieved between the aircraft and the aircraft rolling torque motor (24) through a coupling (28).

[0067] The electric steering gear load simulation system (2) is as follows Figure 4As shown, the aerodynamic load torque acting on the lift wing surface (11) during the trajectory control of the gliding extended-range guided aircraft is simulated, and is used as the load torque controlled by the dual-rotation electric servo (12), and the torque information acting on the lift wing surface (11) transmitted by the trajectory calculation module (5) of the gliding extended-range guided aircraft is received in real time.

[0068] Specifically, the electric steering gear load simulation system (2) is driven by a steering gear load torque motor (29); a steering gear load torque motor controller (30), a steering gear load torque motor driving element (31), and a steering gear load torque motor current sensor (32) are integrated with a steering gear load torque motor (29) torque servo control system; a glide extended range guided aircraft trajectory calculation module (5) sends torque information acting on a lift wing surface (11) to the electric steering gear load simulation system (2) in real time; and the steering gear load torque motor (24) realizes aerodynamic load torque loading on the lift wing surface (11) through a gear transmission system (33).

[0069] The sensor measurement system measures the roll angle of the glide-range-extended guided aircraft (10) and the rotation speed of the aircraft (10), the roll angle of the lift wing surface (11) and the rotation speed of the lift wing surface (11), and feeds back the results to the glide-range-extended guided aircraft trajectory calculation module (5) in real time;

[0070] Specifically, the sensor measurement system is a combination of one or more of an encoder, a geomagnetic sensor, a tilt sensor, an inertial sensor, etc. The sensor measurement system feeds back the rolling angle and rotation speed information of the aircraft (10) and the lift wing surface (11) to the glide extended-range guided aircraft trajectory calculation module (5) in real time through an RS485 serial port.

[0071] The information setting module is as follows Figure 5 As shown, it is divided into a trajectory information setting module (18) and a deflection item setting module (19), which are respectively integrated in a PC-side host computer (8) in the form of setting software, and transmit the initial trajectory setting information and the deflection item setting information through a data communication module (6) and set them to a glide extended-range guided vehicle trajectory calculation module (5) and an onboard flight control computer (13).

[0072] Specifically, the trajectory information initial setting module (18) sets the trajectory simulation initial information (initial velocity, trajectory inclination, trajectory deflection, rotation speed, position, attitude angle, etc.), meteorological information (air pressure, virtual temperature, wind speed, wind direction, etc.), and the trajectory information initial setting module (18) transmits the above-mentioned setting information to the data communication module (6) through the RS485 serial port and sets it to the glide extended-range guided aircraft trajectory calculation module (5); the trajectory information initial setting module (18) sets the target landing point information (longitude, latitude, altitude of the target landing point), the launch point information (longitude, latitude, altitude and launch azimuth of the launch point), and transmits the above-mentioned setting information to the data communication module (6) through the RS485 serial port and sets it to the The missile-borne flight control computer (13); the deviation item setting module (19) includes the launch condition deviation items (launch initial velocity deviation items, initial shooting angle deviation items, initial deflection angle deviation items), environmental factor deviation items (wind speed deviation items, wind direction deviation items, etc.), aerodynamic parameter deviation items (lift coefficient deviation items, drag coefficient deviation items, etc.), receiver data deviation (longitude deviation items, latitude deviation items, altitude deviation items, north velocity deviation items, celestial velocity deviation items, eastward deviation items), and uses a random number mode to generate the deviation values ​​of the parameters. The deviation item setting module (19) transmits the above setting information to the data communication module (6) through the RS485 serial port and sets it to the glide extended-range guided aircraft trajectory solution module (5).

[0073] The glide extended-range guided aircraft trajectory calculation module (5) generates the trajectory information of the aircraft at the next moment based on the trajectory equation according to the initial setting information, the trajectory information at the current moment, the rolling angle and rotation speed information of the aircraft (10) and the lift wing surface (11) fed back by the sensor measurement system (3), and sends it to the rolling motion simulation turntable system (1), the electric steering gear load simulation system (2), and the missile-borne flight control computer (13) in real time.

[0074] Specifically, the glide extended-range guided aircraft trajectory calculation module (5) uses an MCU as the main control chip and adopts a staged trajectory simulation model. From the launch point to the deployment point of the lift wing surface (11), the aircraft flies in an inertial trajectory and uses a six-degree-of-freedom rigid body trajectory equation for calculation. After the lift wing surface (11) is deployed, the aircraft begins to perform trajectory control until landing and uses a seven-degree-of-freedom trajectory equation for calculation. The glide extended-range guided aircraft trajectory calculation module (5) includes an aerodynamic model based on a proxy model, a flight dynamics model and a numerical calculation model. The proxy model of the aerodynamic model is one or a combination of a polynomial regression model, a Kriging model and a support vector machine regression model. The numerical calculation model is one of an Euler method, an improved Euler method, a Runge-Kutta method, a difference method, etc.

[0075] Specifically, the process of the glide extended range guided aircraft trajectory calculation module (5) generating the trajectory information of the aircraft at the next moment is as follows: based on the trajectory simulation initial information and meteorological information set by the trajectory information initial setting module (18), the deflection item information set by the deflection item setting module (19), and the aircraft roll angle and rotation speed information fed back by the sensor measurement system (3), the trajectory information at the initial moment, such as speed, trajectory inclination, trajectory deflection, rotation speed, turning angle, etc., is generated; based on the Mach number, angle of attack, and sideslip angle, the trajectory information is calculated based on the aerodynamics. The proxy model of the model obtains the aerodynamic coefficients, calculates the aerodynamic force and aerodynamic torque; based on the six-degree-of-freedom rigid body ballistic equation of the inertial flight, generates the ballistic information of the aircraft at the next moment, and sends the torque information acting on the rolling direction of the aircraft (10) to the rolling motion simulation turntable system (1) in real time through the RS485 serial port. The turntable drives the aircraft to rotate, and the sensor measurement system (3) once again feeds back the rolling angle and speed information of the aircraft (10), forming a closed-loop simulation of the inertial flight segment until the lift wing surface (11) is deployed;

[0076] Specifically, after the lift surface is deployed, the glide extended-range guided aircraft trajectory calculation module (5) generates the trajectory information of the aircraft at the next moment based on the seven-degree-of-freedom trajectory equation of the trajectory control section, according to the trajectory information of the lift surface (11) at the moment before it is deployed and the rolling angle and rotation speed information of the aircraft (10) and the lift surface (11) fed back by the sensor measurement system (3); the glide extended-range guided aircraft trajectory calculation module (5) sends the rolling moment information acting on the aircraft (10) in the rolling direction and the aerodynamic load moment information acting on the lift surface (11) to the rolling motion simulation turntable system (1) and the electric steering gear load simulation system (2) in real time through the RS485 serial port; the glide extended-range guided aircraft trajectory calculation module (5) sends the flight status information under the receiver communication protocol to the missile-borne flight control computer (13) through the RS485 serial port; the missile-borne flight control computer (13) sends the information of the aerodynamic load moment acting on the lift surface (11) according to the missile-borne flight control computer (13). The trajectory information setting module sets the launch point, target landing point information and flight status information, performs trajectory control according to a predetermined control strategy, obtains the lift wing surface (11) roll angle control instruction required for trajectory control, and sends it to the missile-borne dual-rotation electric servo control computer (14) through the RS485 serial port according to the flight control cycle; the missile-borne dual-rotation electric servo control computer (14) receives the lift wing surface (11) roll angle control instruction, and the missile-borne attitude measurement system (15) provides the lift wing surface (11) roll angle and speed feedback, and performs lift wing surface (11) roll angle control according to a predetermined roll angle control algorithm; at the same time, the sensor measurement system (3) real-time feedback of the aircraft (10) and the lift wing surface (11) roll angle and speed information is sent to the glide extended range guided aircraft trajectory solution module (5) through the RS485 serial port, and the system forms a closed-loop simulation of the trajectory control stage until landing, and the simulation ends;

[0077] The flight status information to be sent to the missile-borne flight control computer (13) is converted according to the communication protocol of the satellite receiver, and the method is as follows: launch coordinate system -> WGS-84 geocentric rectangular coordinate system -> WGS-84 geodetic coordinate system, and the longitude, latitude and altitude of the aircraft are obtained in real time; the flight speed of the aircraft is converted according to the speed, ballistic inclination and ballistic deflection of the aircraft in the ballistic coordinate system, and the specific conversion process is: ballistic coordinate system -> launch coordinate system -> North Celestial East coordinate system, and the north speed, celestial speed and east speed of the aircraft are obtained in real time; the longitude and latitude information of the aircraft after conversion and the speed information in the North Celestial East coordinate system are sent to the missile-borne flight control computer (13) according to the predetermined satellite receiver communication protocol.

[0078] The missile-borne dual-rotation electric servo control computer (14) is one of the test components of the present invention, with MCU as the main control chip, and adopts an angle control algorithm based on space vector modulation technology and magnetic field oriented control technology. The roll angle control algorithm includes but is not limited to the use of PID algorithm, anti-disturbance control algorithm, sliding mode control algorithm, model predictive control algorithm, etc.

[0079] The missile-borne attitude measurement system (15) is one of the test components of the present invention, and provides the lift surface (11) roll angle and speed feedback for the angle control of the dual-rotation electric servo (12). It is a combination of an encoder, a geomagnetic sensor, an inertial sensor, and a satellite receiver. For example, the geomagnetic sensor measures the roll angle and speed of the aircraft (10), the encoder measures the relative angle and speed between the lift surface (11) and the aircraft (10), and the algebraic summation obtains the roll angle and speed of the lift surface (11) relative to the launch coordinate system, or the satellite receiver calculates the roll angle and speed of the lift surface (11) relative to the launch coordinate system, and other attitude measurement strategies.

[0080] The missile-borne flight control computer (13) is one of the test components of the present invention, with MCU as the main control chip. The trajectory control strategy adopted by the missile-borne flight control computer (13) includes but is not limited to a control strategy based on a proportional guidance law, a control strategy based on a modified proportional guidance law, a control strategy based on a trajectory tracking guidance law, a control strategy based on a landing point prediction control, a control strategy based on perturbation control, a control strategy based on an optimal guidance law, etc.

[0081] The data display and system evaluation module (7) are as follows Figure 5As shown, the system is divided into a real-time display module (20) and a system evaluation module (21), which are respectively integrated in the form of visual simulation software on a PC host computer (8), and collect the trajectory simulation data output by the glide extended-range guided aircraft trajectory calculation module (5) and the control data of the dual-rotation electric servo (12) output by the missile-borne dual-rotation electric servo control computer (14) through the data communication module (6); and the missile-borne test component (9) is evaluated, tested and optimized according to the data.

[0082] Specifically, the real-time display module (20) and the system evaluation module (21) collect flight status data obtained by iteratively solving the trajectory solving module (5) of the glide extended-range guided aircraft through the data communication module (6) using the RS485 serial port, and display the trajectory curve, landing point information (landing point deviation, landing speed, landing inclination angle), flight attitude information (angle of attack, sideslip angle), etc. in real time; collect the control status information (current, voltage, lift wing surface (11) rotation speed, lift wing surface (11) roll angle, etc.) of the dual-rotation electric servo (12) output by the missile-borne dual-rotation electric servo control computer (14) and the lift wing surface (11) roll angle control instruction sent by the missile-borne flight control computer (13) to the missile-borne dual-rotation electric servo control computer (12) through the data communication module (6) using the RS485 serial port, and display them in real time in the visual simulation software, and evaluate, detect and optimize the missile-borne test component (9) according to the data.

[0083] The present invention provides a semi-physical simulation method for a gliding extended-range guided aircraft. Figure 6 As shown, based on the above-mentioned semi-physical simulation system, the missile-borne test component (9) is evaluated and tested, and the specific implementation steps are as follows:

[0084] The first step is to select the mission mode according to the test requirements. The glide-range extended guided vehicle includes three mission modes: glide-range extended, landing point control, and glide-range extended and landing point control.

[0085] The second step is that the power supply system works and the system is initialized;

[0086] The third step is to input setting information into the information setting module (4) in the PC host computer (8), including initial information of trajectory simulation, launch point information, target landing point information, and meteorological information;

[0087] The fourth step is to set the initial information of trajectory simulation and meteorological information to the trajectory calculation module (5) of the glide extended range guided aircraft through the data communication module (6), set the launch point information and target landing point information to the missile-borne flight control computer (13), click the launch button, and the system starts simulation;

[0088] The glide-range-extended guided aircraft trajectory calculation module (5) generates the trajectory information of the aircraft at the next moment based on the trajectory equation according to the initial setting information, the trajectory information at the current moment, the rolling angle and rotation speed information of the aircraft (10) and the lift wing surface (11) fed back by the sensor measurement system (3), and the trajectory information of the aircraft at the next moment. The glide-range-extended guided aircraft trajectory calculation module (5) determines whether the aircraft has landed. If so, the simulation main process is terminated; if not, the trajectory information of the aircraft at the next moment is sent to the rolling motion simulation turntable system (1), the electric steering gear load simulation system (2), and the missile-borne flight control computer (3) in real time;

[0089] The missile-borne flight control computer (13) performs trajectory control calculation according to a predetermined control strategy based on the launch point and target landing point information set by the trajectory information setting module (4) and the flight state information sent by the glide extended-range guided aircraft trajectory calculation module (5), obtains the roll angle control instruction of the lift wing surface (11) required for trajectory control, and sends it to the missile-borne dual-rotation electric steering gear control computer (14) according to the flight control cycle;

[0090] The missile-borne dual-rotation electric servo control computer (14) receives the roll angle control instruction of the lift wing surface (11), and the missile-borne attitude measurement system (15) provides the lift wing surface (11) roll angle and speed feedback for the dual-rotation electric servo (12) control, and performs the lift wing surface (11) roll angle control according to a predetermined control algorithm; at the same time, the sensor measurement system (3) feeds back the real-time measurement value to the glide extended-range guided aircraft trajectory solution module (5), and the above steps five to seven are repeated, and the system forms a closed-loop simulation until the main simulation process ends;

[0091] The data display and evaluation module (7) collects the trajectory simulation data output by the glide extended-range guided aircraft trajectory calculation module (5) and the rolling angle control state information data of the dual-rotation electric servo (12) output by the missile-borne dual-rotation electric servo control computer (14) through the data communication module (6), displays the data through the real-time display module (20) and the system evaluation module (21), and evaluates, detects and optimizes the missile-borne test component (9) according to the data.

[0092] The present invention can also perform pull-off simulation calculation based on the Monte Carlo method, and the specific method is as follows:

[0093] In the third and fourth steps, in the information setting module (4), the information setting of the deviation item setting module (19) is additionally performed, including the deviation of the launch conditions, the deviation of the environmental factors, the deviation of the aerodynamic parameters, and the deviation of the receiver data; the number of deviation samples and the deviation range of the parameters are selected, and the parameter deviation values ​​are generated by using a random number mode, and multiple groups of parameter deviation values ​​are cyclically generated, and are set to the glide extended range guided vehicle trajectory solution module (5) through the data communication module (6);

[0094] Repeat steps 5 to 8 above;

[0095] By observing the statistical laws of the data displayed and the data in the system evaluation module (7), the flight control system, the dual-rotation electric servo control system, the flight stability of the aircraft, etc. are evaluated and optimized; for example, by statistically analyzing the deviation laws between the controlled landing point and the target point, the effectiveness and robustness of the flight control algorithm are evaluated, and the trajectory control strategy and the flight control algorithm are further optimized; by statistically analyzing the response time, overshoot and fluctuation degree of the angle control of the lift surface (11), the effectiveness and stability of the dual-rotation electric servo (12) control algorithm are evaluated, and the dual-rotation electric servo (12) control algorithm is improved.

[0096] The above description is only a preferred example of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A hardware-in-the-loop simulation system and method for a gliding extended-range guided aircraft, characterized in that: The simulation equipment includes: a rolling motion simulation turntable system (1), an electric servo load simulation system (2), a sensor measurement system (3), an information setting module (4), a glide extended range guided aircraft trajectory calculation module (5), a data communication module (6), a data display and system evaluation module (7), and a PC-side host computer (8); the missile-borne test components (9) include: an aircraft (10), a lift wing (11), a dual-rotation electric servo (12), a missile-borne flight control computer (13), a missile-borne dual-rotation electric servo control computer (14), and a missile-borne attitude measurement system (15); The roll motion simulation turntable system (1) simulates the roll moment and roll motion response acting on the aircraft (10) during the actual flight of the gliding extended-range guided aircraft; The electric servo load simulation system (2) simulates the aerodynamic load torque acting on the lift wing surface (11) during the trajectory control of the gliding extended-range guided aircraft, and serves as the load torque controlled by the dual-rotation electric servo (12); The sensor measurement system (3) includes an aircraft angle sensor (16) and a lift wing surface angle sensor (17), wherein the aircraft angle sensor (16) measures the roll angle and rotation speed of the aircraft (10), and the lift wing surface angle sensor (17) measures the roll angle and rotation speed of the lift wing surface (11), and feeds back the information to the glide extended range guided aircraft trajectory calculation module (5) in real time; The information setting module (4) includes a trajectory information setting module (18) and a deflection item setting module (19), which are integrated on a PC host computer (8) in the form of setting software, and transmits initial trajectory setting information and deflection item setting information to a trajectory calculation module (5) of a gliding extended-range guided aircraft and an onboard flight control computer (13) via a data communication module (6); The glide extended range guided aircraft trajectory calculation module (5) generates the trajectory information of the aircraft at the next moment based on the trajectory equation according to the initial setting information, the trajectory information at the current moment, the roll angle and speed information of the aircraft (10) and the lift wing (11) fed back by the sensor measurement system (3), and sends the trajectory information to the rolling motion simulation turntable system (1), the electric steering gear load simulation system (2), and the missile-borne flight control computer (13) in real time; The dual-rotation electric servo (12) includes a rotor (22) and a stator (23), the aircraft (10) is fixedly connected to the rotor (22), and the lift wing (11) is fixedly connected to the stator (23); The missile-borne flight control computer (13) performs trajectory control according to a predetermined control strategy based on the launch point and target landing point information set by the trajectory information setting module (18) and the flight status information sent by the glide extended range guided aircraft trajectory calculation module (5), obtains the lift wing (11) roll angle control instruction required for trajectory control, and sends it to the missile-borne dual-rotation electric servo control computer (14) according to the aircraft flight control cycle; The missile-borne dual-rotation electric servo control computer (14) receives a roll angle control instruction of the lift wing (11), and the missile-borne attitude measurement system (15) provides feedback on the roll angle and speed of the lift wing (11) controlled by the dual-rotation electric servo (12), and controls the roll angle of the lift wing (11) according to a predetermined roll angle control algorithm; at the same time, the sensor measurement system (3) feeds back the real-time measurement value to the glide extended-range guided aircraft trajectory calculation module (5), and the system forms a closed-loop simulation; The data display and system evaluation module (7) includes a real-time display module (20) and a system evaluation module (21), which are integrated on a PC host computer (8) in the form of real-scene simulation software, and collects trajectory simulation data output by a glide extended-range guided aircraft trajectory calculation module (5) and control data of a dual-rotation electric servo (12) output by a missile-borne dual-rotation electric servo control computer (14) through a data communication module (6); and evaluates, detects and optimizes missile-borne test components (9) based on the data.

2. A hardware-in-the-loop simulation system and method for a gliding extended-range guided aircraft according to claim 1, characterized in that: The roll motion simulation turntable system (1) is driven by an aircraft roll torque motor (24); an aircraft roll torque motor controller (25), an aircraft roll torque motor driving element (26), and an aircraft roll torque motor current sensor (27) are integrated into a torque servo control system of the aircraft roll torque motor (24); a glide extended range guided aircraft trajectory calculation module (5) sends torque information acting on the roll direction of the aircraft (10) to the roll motion simulation turntable system (1) in real time; and a coupling (28) is used between the aircraft (10) and the aircraft roll torque motor (24) to realize roll torque loading.

3. The hardware-in-the-loop simulation system and method for a gliding extended-range guided aircraft according to claim 1, characterized in that: The electric steering gear load simulation system (2) is driven by a steering gear load torque motor (29); a steering gear load torque motor controller (30), a steering gear load torque motor driving element (31), and a steering gear load torque motor current sensor (32) are integrated with a steering gear load torque motor (29) torque servo control system; a glide extended range guided aircraft trajectory calculation module (5) sends torque information acting on a lift wing surface (11) to the electric steering gear load simulation system (2) in real time; and a steering gear load torque motor (24) realizes aerodynamic load torque loading on the lift wing surface (11) through a gear transmission system (33).

4. The hardware-in-the-loop simulation system and method for a gliding extended-range guided aircraft according to claim 1, characterized in that: The trajectory information initial setting module (18) in the information setting module (4) includes trajectory simulation initial information (initial velocity, trajectory inclination, trajectory deviation, rotation speed, position, attitude angle, etc.), launch point information (longitude, latitude, altitude and launch azimuth of the launch point), target landing point information (longitude, latitude, altitude of the target landing point), and meteorological information (air pressure, virtual temperature, wind speed, wind direction, etc.); the trajectory information initial setting module (18) transmits the trajectory simulation initial information and meteorological information to the data communication module (6) and sets them to the glide extended range guided aircraft trajectory calculation module (5); the trajectory information initial setting module (18) transmits the launch point information and target landing point information to the data communication module (6) and sets them to the missile-borne flight control computer (13); The deviation item setting module (19) in the information setting module (4) includes launch condition deviation items (launch initial velocity deviation item, initial shooting angle deviation item, initial deflection angle deviation item), environmental factor deviation items (wind speed deviation item, wind direction deviation item, etc.), aerodynamic parameter deviation items (lift coefficient deviation item, drag coefficient deviation item, etc.), receiver data deviation (longitude deviation item, latitude deviation item, altitude deviation item, north velocity deviation item, celestial velocity deviation item, eastward deviation item), and uses a random number pattern to generate parameter deviation values; the deviation item setting module (19) transmits the deviation item setting information to the data communication module (6) and sets it to the glide extended range guided aircraft trajectory solution module (5).

5. The hardware-in-the-loop simulation system and method for a gliding extended-range guided aircraft according to claim 1, characterized in that: The sensor measurement system (3) is one or a combination of multiple types of sensors such as an encoder, a geomagnetic sensor, an inclination sensor, and an inertial sensor.

6. The hardware-in-the-loop simulation system and method for a gliding extended-range guided aircraft according to claim 1, characterized in that: The glide extended range guided aircraft trajectory calculation module (5) adopts a staged trajectory simulation model. From the launch point to the deployment of the lift wing surface (11), the aircraft flies by inertia and the six-degree-of-freedom rigid body trajectory equation is used for calculation. After the lift wing surface (11) is deployed, the aircraft starts to perform trajectory control until landing and the seven-degree-of-freedom trajectory equation is used for calculation.

7. A hardware-in-the-loop simulation system and method for a gliding extended-range guided aircraft according to claim 6, characterized in that: The trajectory calculation module (5) of the glide extended-range guided aircraft comprises an aerodynamic model, a flight dynamics model and a numerical calculation model based on a proxy model; wherein, CFD simulation data under different flight states are used as a training set of the proxy model, the proxy model of the aerodynamic model is one or a combination of a polynomial regression model, a Kriging model and a support vector machine regression model, and the aerodynamic model based on the proxy model can effectively release the hardware calculation resources of the trajectory calculation module (5) of the glide extended-range guided aircraft; and the numerical calculation model is one of the Euler method, the improved Euler method, the Runge-Kutta method, the difference method and the like.

8. The hardware-in-the-loop simulation system and method for a gliding extended-range guided aircraft according to claim 1, characterized in that: The glide extended range guided aircraft trajectory calculation module (5) performs data conversion on the flight status information to be sent to the missile-borne flight control computer (13) according to the communication protocol of the satellite receiver used, and the method is as follows: coordinate conversion is performed on the aircraft position information output by the glide extended range guided aircraft trajectory calculation module (5), and the specific conversion process is: launch coordinate system -> WGS-84 geocentric rectangular coordinate system -> WGS-84 geodetic coordinate system, and the longitude, latitude and altitude of the aircraft are obtained in real time; coordinate conversion is performed on the aircraft flight speed according to the flight speed, ballistic inclination and ballistic deflection of the aircraft in the ballistic coordinate system, and the specific conversion process is: ballistic coordinate system -> launch coordinate system -> North Celestial East coordinate system, and the north speed, celestial speed and east speed of the aircraft are obtained in real time; the latitude and longitude information of the converted aircraft and the speed information in the North Celestial East coordinate system are sent to the missile-borne flight control computer (13) according to the predetermined satellite receiver communication protocol.

9. The hardware-in-the-loop simulation system and method for a gliding extended-range guided aircraft according to claim 1, characterized in that: The missile-borne dual-rotation electric servo control computer (14) adopts an angle control strategy based on space vector modulation technology and magnetic field oriented control technology, and the roll angle control algorithm includes but is not limited to the use of PID algorithm, anti-disturbance control algorithm, sliding mode control algorithm, model predictive control algorithm, etc.

10. The hardware-in-the-loop simulation system and method for a gliding extended-range guided aircraft according to claim 1, characterized in that: The missile-borne attitude measurement system (15) is a combination of an encoder, a geomagnetic sensor, an inertial sensor, and a satellite receiver.

11. The hardware-in-the-loop simulation system and method for a gliding extended-range guided aircraft according to claim 1, characterized in that: The trajectory control strategies adopted by the missile-borne flight control computer (13) include, but are not limited to, a control strategy based on a proportional guidance law, a control strategy based on a modified proportional guidance law, a control strategy based on a trajectory tracking guidance law, a control strategy based on a landing point prediction control, a control strategy based on a perturbation control, a control strategy based on an optimal guidance law, and the like.

12. The hardware-in-the-loop simulation system and method for a gliding extended-range guided aircraft according to claim 1, characterized in that: The real-time display module (20) and the system evaluation module (21) collect the flight status data obtained by the iterative solution of the glide extended range guided aircraft trajectory solution module (5) through the data communication module (6), and display the trajectory curve, landing point information (landing point deviation, landing speed, landing inclination angle), flight attitude information (angle of attack, sideslip angle), etc. in real time; the real-time display module (20) and the system evaluation module (21) collect the roll angle control state information (current, voltage, lift surface (11) speed, lift surface (11) roll angle, etc.) of the dual-rotation electric servo (12) output by the missile-borne dual-rotation electric servo control computer (14) and the lift surface (11) roll angle control instruction sent by the missile-borne flight control computer (13) to the missile-borne dual-rotation electric servo control computer (14) through the data communication module (6), and display the information in real time in the visual simulation software on the PC host computer (8), and evaluate, detect and optimize the missile-borne test component (9) based on the data.

13. The hardware-in-the-loop simulation system and method for a gliding extended-range guided aircraft according to claim 1, characterized in that: The missile-borne test component (9) is evaluated and tested based on the above-mentioned semi-physical simulation system. The specific implementation steps are as follows: The first step is to select the mission mode according to the test requirements. The glide extended range guided vehicle includes three mission modes: glide extended range, landing point control, and glide extended range and landing point control. The second step is to start the power supply system and initialize the system; The third step is to input the setting information into the information setting module (4) in the PC host computer (8), including the initial information of the trajectory simulation, the launch point information, the target landing point information, and the weather information; The fourth step is to set the initial information of ballistic simulation and meteorological information to the aircraft trajectory calculation module (5) through the data communication module (6), set the launch point information and target landing point information to the missile-borne flight control computer (13), click the launch button, and the system starts simulation; In the fifth step, the trajectory calculation module (5) of the glide extended range guided aircraft generates the trajectory information of the aircraft at the next moment based on the ballistic equation according to the initial setting information, the trajectory information at the current moment, the roll angle and speed information of the aircraft (10) and the lift wing surface (11) fed back by the sensor measurement system (3). The trajectory calculation module (5) of the glide extended range guided aircraft determines whether the aircraft has landed. If so, the main simulation process ends; if not, the trajectory information of the aircraft at the next moment is sent to the rolling motion simulation turntable system (1), the electric steering gear load simulation system (2), and the missile-borne flight control computer (3) in real time. In the sixth step, the missile-borne flight control computer (13) performs trajectory control calculation according to the launch point and target point information set by the trajectory information setting module (4) and the flight status information sent by the glide extended range guided aircraft trajectory calculation module (5), obtains the lift wing (11) roll angle control instruction required for trajectory control, and sends it to the missile-borne dual-rotation electric steering gear control computer (14) according to the flight control cycle; In the seventh step, the missile-borne dual-rotation electric servo control computer (14) receives the roll angle control instruction of the lift wing (11), and the missile-borne attitude measurement system (15) provides the lift wing (11) roll angle and speed feedback for the dual-rotation electric servo (12) control, and performs the lift wing (11) roll angle control according to the predetermined control algorithm; at the same time, the sensor measurement system (3) feeds back the real-time measurement value to the glide extended range guided aircraft trajectory solution module (5), and repeats the above steps 5 to 7, and the system forms a closed-loop simulation until the main simulation process ends; In the eighth step, the data display and evaluation module (7) collects the trajectory simulation data output by the glide extended range guided aircraft trajectory calculation module (5) and the roll angle control state information data of the dual-rotation electric servo (12) output by the missile-borne dual-rotation electric servo control computer (14) through the data communication module (6), displays the data through the real-time display module (20) and the system evaluation module (21), and evaluates, detects and optimizes the missile-borne test component (9) based on the data.

14. A hardware-in-the-loop simulation system and method for a gliding extended-range guided aircraft according to claim 13, characterized in that: This hardware-in-the-loop simulation system performs tensile stress simulation calculations based on the Monte Carlo method. The specific method is as follows: In the third and fourth steps, in the information setting module (4), the information setting module (19) is additionally set, including the launch condition deviation, the environmental factor deviation, the aerodynamic parameter deviation, and the receiver data deviation; the number of deviation samples and the parameter deviation range are selected, and the parameter deviation values ​​are generated by using a random number mode, and multiple groups of parameter deviation values ​​are cyclically generated and set to the glide extended range guided aircraft trajectory calculation module (5) through the data communication module (6); Repeat steps 5 to 8 above; By observing the statistical laws of the data displayed and the data in the system evaluation module (7), the flight control system, the dual-rotation electric servo control system, the flight stability of the aircraft, etc. are evaluated and optimized.

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