Missile equipment test system and method

Abstract

The invention discloses a missile-borne equipment testing system and method. The missile-borne equipment testing system comprises a simulation machine, a simulation monitoring computer and a five-axis turntable, the simulation monitoring computer is used for controlling starting and stopping of a simulation test, displaying data information in a test process in real time and storing simulation test data; the five-axis turntable is used for simulating the attitude of the aircraft in the test process and the relative attitude of the aircraft and the target according to the driving data; the simulation machine designs hardware and software control through an embedded method to realize the whole simulation test process; according to the invention, the simulation test system can satisfy the ground test of the missile-borne equipment, and ensures the consistency and authenticity of the ground simulation test process and the actual flight process of the aircraft.

Description

Technical Field

[0001] The invention belongs to the technical field of aircraft, and in particular relates to a missile-mounted equipment testing system and method. Background Art

[0002] Before conducting flight tests, the functions and indicators of the flight control, inertial group, and guidance head subsystems of the aircraft need to be fully verified. By building a simulation test system on the ground to connect the onboard equipment and simulate the actual flight process of the aircraft in the air, the functions and reliability of the flight control, inertial group, guidance head and other aircraft subsystems under various working conditions can be verified. Ground simulation testing can replace a large number of flight target tests, greatly improving the cost-effectiveness of aircraft research and development, and is an indispensable part of the aircraft research and development process.

[0003] Currently, ground simulation tests of aircraft are mainly carried out by building semi-physical simulation systems through commercial simulation platforms, such as RT-LAB, RTX, VxWorks, and dSPACE. This kind of simulation test system based on closed-source software and commercial platforms generally has problems such as high maintenance costs, opaque internal working mechanisms, poor scalability, and low development efficiency. It often fails to achieve ideal results in actual simulation tests. Summary of the invention

[0004] In view of this, the present invention provides a missile-borne equipment testing system and method, which can meet the simulation test system of missile-borne equipment ground testing and ensure the consistency and authenticity of the aircraft ground simulation test process and the actual flight process.

[0005] The technical solution for implementing the present invention is as follows:

[0006] A missile-mounted equipment testing system includes a simulator, a simulation monitoring computer and a five-axis turntable;

[0007] The simulation monitoring computer is used to control the start and stop of the simulation test, display the data information during the test in real time, and save the simulation test data;

[0008] The five-axis turntable is used to simulate the attitude of the aircraft during the test and the relative attitude of the aircraft and the target according to the drive data;

[0009] The simulator realizes the whole simulation test process by designing hardware and software control through embedded method.

[0010] Furthermore, the hardware of the simulator uses STM32H725IGK6 as a processor, and 7 RS422 and 1 RS485 serial ports as I / O communication modules; the software of the simulator includes a process control module, a data communication module, and an aircraft six-degree-of-freedom kinematics and dynamics module.

[0011] Furthermore, the simulator and the devices under test on the missile send control instructions and status feedback instructions via RS485, and transmit and exchange data via RS422; there is no communication between the devices under test on the missile, and all instructions and data are processed and transferred by the simulator, thereby controlling the synchronous operation through the simulator control system.

[0012] A method for testing missile-mounted equipment comprises the following steps:

[0013] Step 1: The tester performs human-computer interaction through the simulation monitoring computer and sends a simulation test start command to the simulator. After receiving the simulation test start command, the simulator simultaneously sends a "device under test ready" command to each unit under test through RS485. After receiving the command, each device under test feeds back a "preparation completed" command through RS485, indicating that the device under test is online and ready.

[0014] Step 2: The simulator sends a "simulation test initialization" command to each device under test through RS485. After receiving the "simulation test initialization" command, each device under test performs data initialization operations on its own program and performs single-step operations.

[0015] Step 3: After the simulator waits for 2ms, it starts the single-step calculation process with a period of 5ms. The simulator sends the "simulation test data exchange" command to each simulation unit via RS485. After receiving the command, each device under test sends the data after its single-step calculation to the simulator via RS422.

[0016] Step 4: The simulator waits for 1ms of data transmission time, then decodes the received data from each device under test, and distributes the data to the corresponding device under test via RS422;

[0017] Step 5: The simulator waits for 800 μs of data transmission time to ensure that each device under test receives the data distributed by the simulator, and then sends a "simulation test single-step execution" instruction to each device under test through RS485. After receiving the instruction, each device under test calculates the single-step calculation execution process of its own program;

[0018] Step 6: When the simulator waits for the next 5ms cycle to start, it sends a "simulation test data exchange" command to each device under test via RS485. After receiving the command, each device under test sends the calculation result of the previous step to the simulator via RS422.

[0019] Step 7. The simulator waits for 1ms of data transmission time, then decodes the received data from each device under test, and distributes the data to the corresponding device under test through RS422; the simulator waits for 800μs of data transmission time, then sends a "simulation test single-step execution" instruction to each device under test through RS485. After receiving the instruction, each device under test calculates the single-step calculation execution process of its own program, and then loops into the next 5ms single-step simulation process, and finally completes the simulation test of the ballistic flight of the missile-mounted equipment. The simulation monitoring computer records and displays the entire simulation test process and data, so as to analyze the device under test.

[0020] Furthermore, the entire simulation test process is synchronously controlled through the signal instructions of the simulator, and the 5ms simulation test cycle is strictly divided to ensure that the system performs specific actions at specific times, thereby meeting the system's deterministic requirements.

[0021] Beneficial effects:

[0022] 1. The device under test of the present invention is not limited to the device type, and only needs to meet the electrical interface requirements, and has strong scalability and flexibility.

[0023] 2. The present invention utilizes a simulation machine and a simulation monitoring computer to realize the control of the simulation process and the data interaction between the devices to be tested.

[0024] 3. The simulation test data interaction between the devices of the present invention adopts a unified upload and download mode. The simulation machine serves as an intermediate device and is responsible for the collection and distribution of data from each device. The synchronization of data between the devices is controlled by simulation instructions.

[0025] 4. The data exchange protocols between each device under test and the simulator of the present invention are independently defined, which has high flexibility.

[0026] 5. The entire test system of the present invention has a clear mechanism, can ensure the consistency between the test state of the device under test and the actual flight state, and the test results are reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a framework diagram of the distributed simulation method.

[0028] Figure 2 This is a schematic diagram of the distributed simulation process. DETAILED DESCRIPTION

[0029] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0030] The embodiment of the present invention is a ground test example of a certain type of aircraft onboard equipment. The aircraft includes a flight control cabin, an inertial group cabin, a steering gear system, a seeker cabin and other equipment. The data interaction and connection relationship between the various onboard equipment are fixed. Each onboard equipment of this type of aircraft runs a program algorithm that can realize the function of the equipment, and all of them are operated once every 5ms, which is called a single-step operation.

[0031] The framework of this test system is as follows Figure 1 As shown, N devices to be tested are the various devices on the aircraft. The devices to be tested can be increased or decreased according to the experimental needs, and have good scalability. In this embodiment, there are 4 devices to be tested, and the device to be tested I is set as the flight control cabin, the device to be tested II is set as the inertial group cabin, the device to be tested III is set as the steering gear system, and the device to be tested IV is set as the guidance head cabin. The five-axis turntable is a system component test device, and its function is to simulate the three attitude angle changes of the pitch angle, azimuth angle, and roll angle of the aircraft during flight according to the simulator driving data, as well as the two angle changes of the pitch angle and azimuth angle of the target relative to the aircraft; the simulation monitoring computer is used to display and record the data information in the simulation test process in real time, and realize the simulation process control of the start and end of the simulation through human-computer interaction.

[0032] The simulator hardware uses STM32H725IGK6 as the processor, and the communication module uses serial port communication, among which the 7-way RS422 serial port uses the THVD1452DRVR communication chip; the 1-way RS485 serial port uses the THVD1451DRBR communication chip. The interface relationship between the test systems is as follows Figure 1 The command information between the simulator and each device under test is communicated via RS485, and the data information between the simulator and each device under test and the simulation monitoring computer is communicated via RS422.

[0033] The simulator software includes a process control module, a data communication module, and an aircraft six-degree-of-freedom kinematics and dynamics module, wherein the data communication module is used to decode the received serial port data and encode the sent serial port data to ensure normal data communication. In the process of establishing the aircraft six-degree-of-freedom kinematics and dynamics module, the ground coordinate system, the missile body coordinate system, and the velocity coordinate system are used.

[0034] (1) Emission coordinate system

[0035] The origin of the coordinate system is taken as the projection point o of the launch point on the surface of the earth reference ellipsoid. e , o e x e The axis is in the horizontal plane of the launch point and points to the launch aiming direction (aiming at the target) in the tangent plane of the reference ellipsoid passing through the origin, o e y eThe axis coincides with the local plumb line of the reference ellipsoid and points upward, o e z e Axis and x e o e y e The planes are perpendicular, forming a right-handed rectangular coordinate system.

[0036] (2) Projectile coordinate system

[0037] Coordinate origin o b is the center of mass of the aircraft; o b x b The axis is along the longitudinal symmetry axis of the aircraft, and the positive direction is toward the head of the aircraft; b y b The axis is in the main symmetry plane of the aircraft and is perpendicular to o b x b Axis, upward is positive; o b z b The axis is perpendicular to the main symmetry plane, looking along the direction of the projectile head, o b z b The axis is positive if it points to the right; o b -x b y b z b Construct a right-handed rectangular coordinate system.

[0038] (3) Velocity coordinate system

[0039] Coordinate origin o v is the center of mass of the aircraft; o v x v The axis is along the flight velocity vector direction of the aircraft; o v y v The axis is in the main symmetry plane of the aircraft and is perpendicular to o v x v Axis, upward is positive; o v z v Axis perpendicular to x v o v y v Plane, looking in the direction of flight, o v z v The axis is positive when it points to the right. v -x v y v z v It is also a right-handed rectangular coordinate system.

[0040] The six-degree-of-freedom model of the aircraft is described as

[0041]

[0042] Among them, V xV is the component of the aircraft's flight velocity in the X-axis direction of the launch coordinate system, y V is the component of the aircraft's flight velocity in the Y-axis direction of the launch coordinate system, z is the Z-axis component of the aircraft's flight velocity in the launch coordinate system, x is the X-position coordinate of the aircraft's center of mass in the launch coordinate system, y is the Y-position coordinate of the aircraft's center of mass in the launch coordinate system, z is the Z-position coordinate of the aircraft's center of mass in the launch coordinate system, and F p is the engine thrust vector, m is the current missile mass, g is the earth's gravity acceleration, L T (γ, ψ, θ) is the transformation matrix from the missile system to the launch system, is the angular velocity of the projectile around the X axis, is the angular velocity of the projectile around the Y axis, is the angular velocity of the projectile around the Z axis, J xx is the moment of inertia of the projectile around the X axis,

[0043] J yy is the moment of inertia of the projectile around the Y axis, J zz is the moment of inertia around the Z axis of the projectile, M x is the moment on the X axis of the projectile, M y is the moment on the Y axis of the projectile, M z is the moment on the Z axis of the projectile, m c is the rocket engine flow rate per second, θ is the trajectory inclination, ψ v is the ballistic deflection angle.

[0044] According to the above model, the simulator receives the rudder angle information of the servo system, and after model calculation, outputs the aircraft attitude information and the missile-target relative attitude information to the five-axis turntable, outputs the aircraft position information to the inertial group system, and outputs all simulation test process parameters to the simulation monitoring computer to complete the data interaction of each calculation cycle.

[0045] In this embodiment, the workflow of the simulation machine process control module is as follows: Figure 2As shown. The simulation tester clicks the "Simulation Start" button on the simulation monitoring computer interface and sends the simulation test start command to the simulator through RS422. After receiving the simulation start command, the simulator sends the "Test Equipment Preparation" command to the flight control cabin, inertial group cabin, steering gear system, and seeker cabin through RS485 at the same time. After receiving the command, each test device feeds back the "Preparation Completed" command through RS485, indicating that the test is online and ready. Then the simulator sends the "Simulation Initialization" command to each test device through RS485 at the same time. After receiving the "Simulation Initialization" command, each test device performs data initialization operations on its own program and executes the single-step operation of its own algorithm program. After the simulator waits for 2ms (2ms is the result of the evaluation of the algorithm running time of each subsystem program of the aircraft, which can be adjusted for different aircraft, and this time>5ms can meet the needs of all aircraft), it starts to enter the single-step calculation process with a 5ms cycle. The simulator achieves synchronization of all test equipment of the aircraft through the following process. The simulator sends a "simulation data exchange" command to each device under test through RS485. After receiving the command, each device under test sends the data after its own single-step operation to the simulator through RS422. The maximum number of data bytes sent by the flight control cabin to the simulator is 86. Therefore, the simulator waits for 1ms (this time must be greater than the time used for data transmission) for data transmission time (the maximum number of bytes is 86, and the required transmission time is 86*1000 / (921600 / 10)=0.933ms<1ms), then decodes the received data from each device under test, and sends the data from the inertial group cabin and the simulator to the flight control cabin through RS422, sends the data from the flight control cabin to the steering gear system, and sends part of the data from the simulator to the steering gear system. The simulator waits for 800μs (the same calculation method as above, the longest transmission byte is 72 bytes sent by the simulator to the flight control, and the required transmission time is 783μs) of data transmission time to ensure that each device under test receives the data distributed by the simulator, and then sends the "simulation single-step execution" instruction to each device under test through RS485. After receiving the instruction, each device under test calculates the single-step operation simulation execution process of its own program, and the 5ms single-step simulation process ends. When the simulator waits for the start of the next 5ms cycle through the timer, it sends the "simulation data exchange" instruction to each device under test through RS485. After receiving the instruction, each device under test sends the single-step operation execution result of the previous step to the simulator through RS422, thereby entering the next 5ms single-step simulation process to perform the above cycle until the range meets the test requirements and the simulation test is finally completed. The entire simulation test process is synchronously controlled by the signal instructions of the simulator, and the 5ms simulation cycle is strictly divided to ensure that the system performs specific actions at specific times, thereby meeting the deterministic requirements of the system.At the same time, the instructions of the simulator are used to achieve synchronous operation among the devices under test, thus avoiding the development of complex real-time systems and reducing the difficulty and cost of system development.

[0046] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. 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 missile-mounted equipment testing system, characterized in that: It includes a simulator, a simulation monitoring computer and a five-axis turntable; The simulation monitoring computer is used to control the start and stop of the simulation test, display the data information during the test in real time, and save the simulation test data; The five-axis turntable is used to simulate the attitude of the aircraft during the test and the relative attitude of the aircraft and the target according to the drive data; The simulator realizes the whole simulation test process by designing hardware and software control through embedded method.

2. The missile-mounted equipment testing system according to claim 1, characterized in that: The hardware of the simulator uses STM32H725IGK6 as a processor, and uses 7 RS422 and 1 RS485 serial ports as I / O communication modules; the software of the simulator includes a process control module, a data communication module, and an aircraft six-degree-of-freedom kinematics and dynamics module.

3. The missile-mounted equipment testing system according to claim 1 or 2, characterized in that: The simulator and the devices under test on the missile send control commands and status feedback commands via RS485, and transmit and exchange data via RS422. There is no communication between the devices under test on the missile, and all commands and data are processed and transferred by the simulator, thereby controlling the operation synchronously through the simulator control system.

4. A testing method applied to the system of claim 1, characterized in that: The following steps are involved: Step 1: The tester performs human-computer interaction through the simulation monitoring computer and sends a simulation test start command to the simulator. After receiving the simulation test start command, the simulator simultaneously sends a "device under test ready" command to each unit under test through RS485. After receiving the command, each device under test feeds back a "preparation completed" command through RS485, indicating that the device under test is online and ready. Step 2: The simulator sends a "simulation test initialization" command to each device under test through RS485. After receiving the "simulation test initialization" command, each device under test performs data initialization operations on its own program and performs single-step operations. Step 3: After the simulator waits for 2ms, it starts the single-step calculation process with a period of 5ms. The simulator sends the "simulation test data exchange" command to each simulation unit via RS485. After receiving the command, each device under test sends the data after its single-step calculation to the simulator via RS422. Step 4: The simulator waits for 1ms of data transmission time, then decodes the received data from each device under test, and distributes the data to the corresponding device under test via RS422; Step 5: The simulator waits for 800μs of data transmission time to ensure that each device under test receives the data distributed by the simulator, and then sends a "simulation test single-step execution" command to each device under test through RS485. After receiving the command, each device under test calculates the single-step calculation execution process of its own program; Step 6: When the simulator waits for the next 5ms cycle to start, it sends a "simulation test data exchange" command to each device under test via RS485. After receiving the command, each device under test sends the calculation result of the previous step to the simulator via RS422. Step 7. The simulator waits for 1ms of data transmission time, then decodes the received data from each device under test, and distributes the data to the corresponding device under test through RS422; the simulator waits for 800μs of data transmission time, then sends a "simulation test single-step execution" instruction to each device under test through RS485. After receiving the instruction, each device under test calculates the single-step calculation execution process of its own program, and then loops into the next 5ms single-step simulation process, and finally completes the simulation test of the ballistic flight of the missile-mounted equipment. The simulation monitoring computer records and displays the entire simulation test process and data, so as to analyze the device under test.

5. The testing method according to claim 4, characterized in that: The entire simulation test process is synchronously controlled through the signal instructions of the simulator, and the 5ms simulation test cycle is strictly divided to ensure that the system performs specific actions at specific times, thereby meeting the system's deterministic requirements.

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