Semi-physical simulation system and method

Abstract

The embodiment of the invention provides a semi-physical simulation system and method. In one specific embodiment, the system comprises a control calculation module, a simulation module and a simulation motion environment simulation module. The implementation mode not only solves the acceleration information simulation problem of the inertial measurement combination, but also effectively solves the problem that the motion range of a traditional simulation turntable is limited by introducing the intelligent judgment and control functions of the simulation module. When the simulation attitude data exceed the preset attitude motion range of the simulation motion environment simulation module, the system can automatically adjust the strategy, the angular motion information is simulated no longer depending on the actual motion of the rotary table, and the high-attitude and large-range simulation test requirement is met in a data replacement mode, so that the simulation application range is greatly expanded. Through a flexible data replacement mechanism, the simulation requirements of aircrafts of different scales and complexity can be met, the system can provide an accurate and reliable simulation environment, and the adaptability and flexibility of the system are enhanced.

Description

Technical Field

[0001] The present disclosure relates to the field of semi-physical simulation, and more specifically, to a semi-physical simulation system and method. Background Art

[0002] At present, semi-physical simulation is used as an efficient and economical technical means to simulate the interfaces and functions of various parts of the aircraft, and connect the real objects to the simulation test system to ensure the correctness and matching of the aircraft control system.

[0003] In the semi-physical simulation experiment, the simulation turntable provides an angular motion environment and an acceleration simulation environment for the inertial measurement device. However, due to the limited motion range of the turntable, it cannot meet the requirements of high-attitude and large-scale simulation tests. Summary of the invention

[0004] The purpose of the present disclosure is to provide a semi-physical simulation system and method that can meet the requirements of high-profile and large-scale simulation tests, so as to solve at least one of the problems existing in the prior art.

[0005] In order to achieve the above objectives, the present invention adopts the following technical solutions:

[0006] The first aspect of the present disclosure provides a semi-physical simulation system, comprising:

[0007] Control calculation module, simulation module, and simulated motion environment simulation module;

[0008] The control calculation module is used to send control instructions to the simulation calculation module;

[0009] The simulation module is used to simulate and calculate the calculated motion position data, calculated attitude data, calculated velocity increment data, and calculated angle increment data of the aircraft in real time according to the control instructions;

[0010] The simulated motion environment simulation module is used to provide real-time angular motion environment simulation and acceleration environment simulation for the inertial measurement combination module;

[0011] The simulation module is further used to determine whether the simulation posture data exceeds a preset posture simulation range of the simulation motion environment simulation module;

[0012] If exceeded, outputting a first turntable control instruction to the simulated motion environment simulation module and outputting calculated angle increment data and calculated speed increment data to replace the actual angle increment data and actual speed increment data measured by the simulated motion environment simulation module;

[0013] otherwise, outputting a second turntable control instruction to the simulated motion environment simulation module and outputting calculated speed increment data to replace the actual speed increment data measured by the simulated motion environment simulation module;

[0014] The simulated motion environment simulation module stops running in response to the first turntable control instruction; obtains the calculated angle increment data and the calculated speed increment data and outputs them to the control calculation module; responds to the second turntable control instruction, performs posture adjustment and control according to the calculated posture data, obtains the actual angle increment data and the calculated speed increment data and outputs them to the control calculation module.

[0015] Furthermore, the simulated motion environment simulation module includes a turntable and an inertial measurement combination module installed on the turntable;

[0016] The turntable, in response to the first turntable control instruction, stops running, and obtains the calculated angle increment data and the calculated speed increment data through the inertial measurement combination module and outputs them to the control calculation module;

[0017] The turntable, in response to the second turntable control instruction, performs posture adjustment and control according to the calculated posture data; and obtains the actual angle increment data and the calculated speed increment data through the inertial measurement combination module and outputs them to the control calculation module.

[0018] Further, the simulation module includes a simulation calculation module, a judgment module, a replacement module, and a simulation turntable control module;

[0019] The simulation calculation module is used to simulate and calculate the calculated motion position data, calculated attitude data, calculated speed increment data, and calculated angle increment data of the aircraft in real time according to the control instructions;

[0020] The judging module is used to judge whether the simulated posture data exceeds a preset posture simulation range of the simulated motion environment simulation module;

[0021] The replacement module is used to output the calculated angle increment data and the calculated velocity increment data to the inertial measurement combination module to replace the actual angle increment data and the actual velocity increment data measured by the inertial measurement combination module when the simulated attitude data exceeds the preset attitude simulation range of the turntable;

[0022] or, when the simulated attitude data is within a preset attitude simulation range of the turntable, outputting the calculated velocity increment data to the inertial measurement combination module to replace the actual velocity increment data measured by the inertial measurement combination module;

[0023] The simulation turntable control module is used to output a first turntable control instruction to the turntable when the simulation posture data exceeds the preset posture simulation range of the turntable; or output a second turntable control instruction to the turntable when the simulation posture data is within the preset posture simulation range of the turntable.

[0024] Furthermore, the control calculation module is also used to adjust the flight attitude of the aircraft according to the actual angle increment data and calculated speed increment data sent by the simulated motion environment simulation module, or the calculated angle increment data and calculated speed increment data, and generate control instructions.

[0025] A second aspect of the present disclosure provides a semi-physical simulation method, comprising:

[0026] Sending control instructions to the simulation calculation module through the control calculation module;

[0027] The simulation module calculates the calculated motion position data, calculated attitude data, calculated velocity increment data, and calculated angle increment data of the aircraft in real time according to the control instruction;

[0028] The simulation environment module provides the inertial measurement module with angular motion environment simulation and acceleration environment simulation in real time.

[0029] Determine, by means of a simulation module, whether the simulation posture data exceeds a preset posture simulation range of a simulation motion environment simulation module;

[0030] If exceeded, outputting a first turntable control instruction to the simulated motion environment simulation module and outputting calculated angle increment data and calculated speed increment data to replace the actual angle increment data and actual speed increment data measured by the simulated motion environment simulation module;

[0031] otherwise, outputting a second turntable control instruction to the simulated motion environment simulation module and outputting calculated speed increment data to replace the actual speed increment data measured by the simulated motion environment simulation module;

[0032] The simulated motion environment simulation module responds to the first turntable control instruction to stop running; obtains the calculated angle increment data and the calculated speed increment data and outputs them to the control calculation module; responds to the second turntable control instruction, performs posture adjustment and control according to the calculated posture data, obtains the actual angle increment data and the calculated speed increment data and outputs them to the control calculation module.

[0033] Further, the step of stopping the operation by the simulated motion environment simulation module in response to the first turntable control instruction; obtaining the calculated angle increment data and the calculated speed increment data and outputting them to the control calculation module comprises:

[0034] The turntable stops running in response to the first turntable control instruction, and the calculated angle increment data and the calculated speed increment data are acquired through the inertial measurement combination module and output to the control calculation module.

[0035] Further, in response to the second turntable control instruction, performing posture adjustment and control according to the calculated posture data, obtaining the actual angle increment data and the calculated speed increment data and outputting them to the control calculation module includes:

[0036] Through the turntable, in response to the second turntable control instruction, posture adjustment and control are performed according to the calculated posture data; and the actual angle increment data and the calculated speed increment data are obtained through the inertial measurement combination module and output to the control calculation module.

[0037] Furthermore, the real-time simulation and calculation of the calculated motion position data, calculated attitude data, calculated velocity increment data, and calculated angle increment data of the aircraft according to the control instruction by the simulation module includes:

[0038] The simulation calculation module is used to simulate and calculate the motion position data, attitude data, speed increment data, and angle increment data of the aircraft in real time according to the control instructions.

[0039] Further, the simulation module determines whether the simulation posture data exceeds the preset posture simulation range of the simulation motion environment simulation module; if exceeded, outputs a first turntable control instruction to the simulation motion environment simulation module and outputs calculated angle increment data and calculated speed increment data to replace the actual angle increment data and actual speed increment data measured by the simulation motion environment simulation module; otherwise, outputs a second turntable control instruction to the simulation motion environment simulation module and outputs calculated speed increment data to replace the actual speed increment data measured by the simulation motion environment simulation module, including:

[0040] Determine by a judgment module whether the simulation posture data exceeds a preset posture simulation range of the simulation motion environment simulation module;

[0041] When the simulated attitude data exceeds a preset attitude simulation range of the turntable, the replacement module outputs the calculated angle increment data and the calculated velocity increment data to the inertial measurement combination module to replace the actual angle increment data and the actual velocity increment data measured by the inertial measurement combination module;

[0042] or, when the simulated attitude data is within a preset attitude simulation range of the turntable, outputting the calculated velocity increment data to the inertial measurement combination module to replace the actual velocity increment data measured by the inertial measurement combination module;

[0043] The simulation turntable control module outputs a first turntable control instruction to the turntable when the simulation posture data exceeds the preset posture simulation range of the turntable; or outputs a second turntable control instruction to the turntable when the simulation posture data is within the preset posture simulation range of the turntable.

[0044] Further, after the simulated motion environment simulation module responds to the first turntable control instruction and stops running; obtains the calculated angle increment data and the calculated speed increment data and outputs them to the control calculation module; responds to the second turntable control instruction, performs posture adjustment and control according to the calculated posture data, obtains the actual angle increment data and the calculated speed increment data and outputs them to the control calculation module, the method further includes:

[0045] The control calculation module adjusts the flight attitude of the aircraft according to the actual angle increment data and calculated speed increment data sent by the simulated motion environment simulation module, or the calculated angle increment data and calculated speed increment data, and generates a control instruction.

[0046] The beneficial effects of the present disclosure are as follows:

[0047] The present invention not only solves the problem of simulating acceleration information of the inertial measurement unit, but also effectively solves the problem of limited motion range of the traditional simulation turntable by introducing the intelligent judgment and control function of the simulation module. When the simulation attitude data exceeds the preset attitude motion range of the simulation motion environment simulation module, the system can automatically adjust the strategy, no longer relying on the actual motion of the turntable to simulate the angular motion information, but realizing the high-attitude and large-scale simulation test requirements by data replacement, thereby greatly expanding the application scope of the simulation. Through a flexible data replacement mechanism, it can adapt to the simulation requirements of aircraft of different scales and complexities, and the system can provide an accurate and reliable simulation environment, enhancing the adaptability and flexibility of the system. Since the system can intelligently adjust the simulation strategy, it avoids the situation where the hardware equipment needs to be frequently replaced or upgraded due to the limited motion range of the turntable. This not only reduces the purchase and maintenance costs of experimental equipment, but also reduces the time and labor cost losses caused by experimental interruptions or failures. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The specific implementation methods of the present disclosure are further described in detail below with reference to the accompanying drawings.

[0049] Figure 1 A structural schematic diagram of a semi-physical simulation system disclosed in the present invention is shown.

[0050] Figure 2 A flow chart of a semi-physical simulation method disclosed in the present invention is shown.

[0051] Figure 3A schematic diagram showing the structure of a computer system for implementing the apparatus provided by an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0052] In order to more clearly illustrate the present disclosure, the present disclosure is further described below in conjunction with the embodiments and drawings. Similar components in the drawings are represented by the same reference numerals. It should be understood by those skilled in the art that the content described below is illustrative rather than restrictive, and should not be used to limit the scope of protection of the present disclosure.

[0053] The first embodiment of the present invention provides a semi-physical simulation system, such as Figure 1 As shown, including:

[0054] Control calculation module, simulation module, and simulated motion environment simulation module;

[0055] The control calculation module is used to send control instructions to the simulation calculation module;

[0056] The simulation module is used to simulate and calculate the calculated motion position data, calculated attitude data, calculated velocity increment data, and calculated angle increment data of the aircraft in real time according to the control instructions;

[0057] The simulated motion environment simulation module is used to provide real-time angular motion environment simulation and acceleration environment simulation for the inertial measurement combination module;

[0058] The simulation module is further used to determine whether the simulation posture data exceeds a preset posture simulation range of the simulation motion environment simulation module;

[0059] If exceeded, outputting a first turntable control instruction to the simulated motion environment simulation module and outputting calculated angle increment data and calculated speed increment data to replace the actual angle increment data and actual speed increment data measured by the simulated motion environment simulation module;

[0060] otherwise, outputting a second turntable control instruction to the simulated motion environment simulation module and outputting calculated speed increment data to replace the actual speed increment data measured by the simulated motion environment simulation module;

[0061] The simulated motion environment simulation module stops running in response to the first turntable control instruction; obtains the calculated angle increment data and the calculated speed increment data and outputs them to the control calculation module; responds to the second turntable control instruction, performs posture adjustment and control according to the calculated posture data, obtains the actual angle increment data and the calculated speed increment data and outputs them to the control calculation module.

[0062] The present invention not only solves the problem of simulating acceleration information of the inertial measurement unit, but also effectively solves the problem of limited motion range of the traditional simulation turntable by introducing the intelligent judgment and control function of the simulation module. When the simulation attitude data exceeds the preset attitude motion range of the simulation motion environment simulation module, the system can automatically adjust the strategy, no longer relying on the actual motion of the turntable to simulate the angular motion information, but realizing the high-attitude and large-scale simulation test requirements by data replacement, thereby greatly expanding the application scope of the simulation. Through a flexible data replacement mechanism, it can adapt to the simulation requirements of aircraft of different scales and complexities, and the system can provide an accurate and reliable simulation environment, enhancing the adaptability and flexibility of the system. Since the system can intelligently adjust the simulation strategy, it avoids the situation where the hardware equipment needs to be frequently replaced or upgraded due to the limited motion range of the turntable. This not only reduces the purchase and maintenance costs of experimental equipment, but also reduces the time and labor cost losses caused by experimental interruptions or failures.

[0063] In a possible implementation, the simulated motion environment simulation module includes a turntable and an inertial measurement combination module installed on the turntable;

[0064] The turntable, in response to the first turntable control instruction, stops running, and obtains the calculated angle increment data and the calculated speed increment data through the inertial measurement combination module and outputs them to the control calculation module;

[0065] The turntable, in response to the second turntable control instruction, performs posture adjustment and control according to the calculated posture data; and obtains the actual angle increment data and the calculated speed increment data through the inertial measurement combination module and outputs them to the control calculation module.

[0066] In this embodiment, the inertial combination module needs to acquire data once every 5 ms, so the update time period of the data calculated by the simulation calculation module is less than or equal to 5 ms.

[0067] The turntable of the present invention may be three-axis or five-axis, which is not limited here.

[0068] In a possible implementation, the simulation module includes a simulation calculation module, a judgment module, a replacement module, and a simulation turntable control module;

[0069] The simulation calculation module is used to simulate and calculate the calculated motion position data, calculated attitude data, calculated speed increment data, and calculated angle increment data of the aircraft in real time according to the control instructions;

[0070] The judging module is used to judge whether the simulated posture data exceeds a preset posture simulation range of the simulated motion environment simulation module;

[0071] The replacement module is used to output the calculated angle increment data and the calculated velocity increment data to the inertial measurement combination module to replace the actual angle increment data and the actual velocity increment data measured by the inertial measurement combination module when the simulated attitude data exceeds the preset attitude simulation range of the turntable;

[0072] or, when the simulated attitude data is within a preset attitude simulation range of the turntable, outputting the calculated velocity increment data to the inertial measurement combination module to replace the actual velocity increment data measured by the inertial measurement combination module;

[0073] The simulation turntable control module is used to output a first turntable control instruction to the turntable when the simulation posture data exceeds the preset posture simulation range of the turntable; or output a second turntable control instruction to the turntable when the simulation posture data is within the preset posture simulation range of the turntable.

[0074] In one possible implementation, the control calculation module is also used to adjust the flight attitude of the aircraft and generate control instructions based on the actual angle increment data and calculated speed increment data sent by the simulated motion environment simulation module, or the calculated angle increment data and calculated speed increment data.

[0075] The second aspect of the present invention provides a semi-physical simulation method, such as Figure 2 As shown, including:

[0076] Step S1, sending a control instruction to the simulation calculation module through the control calculation module;

[0077] Step S2, using a simulation module to simulate and calculate the motion position data, attitude data, velocity increment data, and angle increment data of the aircraft in real time according to the control instruction;

[0078] Step S3, providing angular motion environment simulation and acceleration environment simulation to the inertial measurement combination module in real time through the simulated motion environment simulation module;

[0079] Step S4, judging by the simulation module whether the simulation posture data exceeds the preset posture simulation range of the simulation motion environment simulation module;

[0080] Step S5: if exceeded, outputting a first turntable control instruction to the simulated motion environment simulation module and outputting calculated angle increment data and calculated speed increment data to replace the actual angle increment data and actual speed increment data measured by the simulated motion environment simulation module;

[0081] Step S6, otherwise, outputting a second turntable control instruction to the simulated motion environment simulation module and outputting calculated speed increment data to replace the actual speed increment data measured by the simulated motion environment simulation module;

[0082] Step S7, the simulated motion environment simulation module responds to the first turntable control instruction and stops running; obtains the calculated angle increment data and the calculated speed increment data and outputs them to the control calculation module;

[0083] Or, step S8, responding to the second turntable control instruction through the simulated motion environment simulation module, performing posture adjustment and control according to the calculated posture data, obtaining the actual angle increment data and the calculated speed increment data and outputting them to the control calculation module.

[0084] In a possible implementation, the step of stopping the operation of the simulated motion environment simulation module in response to the first turntable control instruction; and obtaining the calculated angle increment data and the calculated speed increment data and outputting them to the control calculation module includes:

[0085] The turntable stops running in response to the first turntable control instruction, and the calculated angle increment data and the calculated speed increment data are acquired through the inertial measurement combination module and output to the control calculation module.

[0086] In one possible implementation, the responding to the second turntable control instruction, performing posture adjustment and control according to the calculated posture data, obtaining the actual angle increment data and the calculated speed increment data and outputting them to the control calculation module includes:

[0087] Through the turntable, in response to the second turntable control instruction, posture adjustment and control are performed according to the calculated posture data; and the actual angle increment data and the calculated speed increment data are obtained through the inertial measurement combination module and output to the control calculation module.

[0088] In a possible implementation, the real-time simulation and calculation of the motion position data, the attitude data, the speed increment data, and the angle increment data of the aircraft according to the control instruction by the simulation module includes:

[0089] The simulation calculation module is used to simulate and calculate the motion position data, attitude data, speed increment data, and angle increment data of the aircraft in real time according to the control instructions.

[0090] In a possible implementation, the simulation module determines whether the simulated posture data exceeds a preset posture simulation range of the simulated motion environment simulation module; if exceeded, outputs a first turntable control instruction to the simulated motion environment simulation module and outputs calculated angle increment data and calculated speed increment data to replace the actual angle increment data and actual speed increment data measured by the simulated motion environment simulation module; otherwise, outputs a second turntable control instruction to the simulated motion environment simulation module and outputs calculated speed increment data to replace the actual speed increment data measured by the simulated motion environment simulation module, including:

[0091] Determine by a judgment module whether the simulation posture data exceeds a preset posture simulation range of the simulation motion environment simulation module;

[0092] When the simulated attitude data exceeds a preset attitude simulation range of the turntable, the replacement module outputs the calculated angle increment data and the calculated velocity increment data to the inertial measurement combination module to replace the actual angle increment data and the actual velocity increment data measured by the inertial measurement combination module;

[0093] or, when the simulated attitude data is within a preset attitude simulation range of the turntable, outputting the calculated velocity increment data to the inertial measurement combination module to replace the actual velocity increment data measured by the inertial measurement combination module;

[0094] The simulation turntable control module outputs a first turntable control instruction to the turntable when the simulation posture data exceeds the preset posture simulation range of the turntable; or outputs a second turntable control instruction to the turntable when the simulation posture data is within the preset posture simulation range of the turntable.

[0095] In a possible implementation, after the simulated motion environment simulation module responds to the first turntable control instruction and stops running; obtains the calculated angle increment data and the calculated speed increment data and outputs them to the control calculation module; responds to the second turntable control instruction, performs posture adjustment and control according to the calculated posture data, obtains the actual angle increment data and the calculated speed increment data and outputs them to the control calculation module, the method further includes:

[0096] The control calculation module adjusts the flight attitude of the aircraft according to the actual angle increment data and calculated speed increment data sent by the simulated motion environment simulation module, or the calculated angle increment data and calculated speed increment data, and generates a control instruction.

[0097] In a specific implementation, this embodiment provides an inertial measurement unit information replacement control semi-physical simulation method with the following specific steps:

[0098] Step 1: Realize inertial measurement unit information replacement control

[0099] The simulation calculation module receives the instruction from the control calculation module for calculation. When the posture data calculated by the minimum frame period is passed through the judgment module to determine whether the posture data exceeds the turntable posture range. If the turntable range is calculated to be out of limit, the simulation turntable control module sends the first turntable control instruction to the simulation turntable to stop the turntable at a suitable position. At the same time, the judgment module sends an instruction to the replacement module, and the replacement module sends the acceleration information and angular velocity information calculated by the simulation calculation module to the inertial measurement combination.

[0100] If the simulation calculation module calculates that the attitude range does not exceed the range limit, the judgment module outputs instructions to the simulation turntable control module and the replacement module, and the simulation turntable control module normally outputs the simulation turntable control instruction to the simulation turntable. The replacement module only needs to output the acceleration information calculated by the simulation calculation module to the inertial measurement unit.

[0101] The second step is to realize the closed-loop simulation of inertial measurement combination information replacement control

[0102] The simulation calculation module receives the instruction from the control calculation module for calculation. When the posture calculated by the minimum frame period exceeds the turntable posture range, the judgment module determines whether it exceeds the turntable posture range. If the turntable range is calculated to be out of limit, the simulation turntable control module issues a turntable control instruction to stop the turntable at a suitable position. At the same time, the judgment module sends an instruction to the replacement module, and the replacement module sends the acceleration information and angular velocity information calculated by the simulation calculation module to the inertial measurement combination. The inertial measurement combination uses the acceleration and angular velocity information output by the simulation module to adjust and control the posture, and at the same time settles the posture information and sends it to the control calculation module to form a closed loop. If the simulation calculation module calculates that the posture range does not exceed the range limit, the judgment module outputs an instruction, and the simulation turntable control module outputs the simulation turntable control instruction normally. The replacement module only needs to output the acceleration information calculated by the simulation calculation module to the inertial measurement combination. The inertial measurement combination completes the posture sensitivity and calculation and sends it to the control calculation module to complete the closed loop.

[0103] At this point, a semi-physical simulation method for inertial measurement combination information replacement control is realized.

[0104] The present invention aims to provide an inertial measurement combination information replacement control semi-physical simulation method, which adopts a simulation control strategy replacement mode to solve the problem of limited motion range of a large-scale attitude change simulation turntable, and at the same time solves the acceleration simulation problem of the inertial measurement combination, and designs a replacement control simulation scheme to realize the verification requirements of the control system.

[0105] like Figure 3As shown, a computer system suitable for realizing the control calculation module and simulation module provided by the above-mentioned embodiment includes a central processing module (CPU), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) or a program loaded from a storage part into a random access memory (RAM). In the RAM, various programs and data required for the operation of the computer system are also stored. The CPU, ROM and RAM are connected to each other through a bus. An input / output (I / O) interface is also connected to the bus.

[0106] The following components are connected to the I / O interface: an input part including a keyboard, a mouse, etc.; an output part including a liquid crystal display (LCD), etc. and a speaker, etc.; a storage part including a hard disk, etc.; and a communication part including a network interface card such as a LAN card, a modem, etc. The communication part performs communication processing via a network such as the Internet. A drive is also connected to the I / O interface as needed. Removable media, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., are installed on the drive as needed so that the computer program read therefrom is installed into the storage part as needed.

[0107] In particular, according to this embodiment, the process described in the flowchart above can be implemented as a computer software program. For example, this embodiment includes a computer program product, which includes a computer program tangibly contained on a computer-readable medium, and the computer program includes program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication part, and / or installed from a removable medium.

[0108] The flow chart and schematic diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product of the present embodiment. In this regard, each square box in the flow chart or schematic diagram can represent a part of a module, program segment or code, and a part of the above-mentioned module, program segment or code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the schematic diagram and / or flow chart, and the combination of the square boxes in the schematic diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0109] In the description of the present disclosure, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present disclosure. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, and it can be the internal connection of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to the specific circumstances.

[0110] It should also be noted that, in the description of the present disclosure, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or equipment. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or equipment including the elements.

[0111] Obviously, the above embodiments of the present disclosure are merely examples for clearly illustrating the present disclosure, and are not limitations on the implementation methods of the present disclosure. For ordinary technicians in this field, other different forms of changes or modifications can be made on the basis of the above description. It is impossible to list all the implementation methods here. All obvious changes or modifications derived from the technical solution of the present disclosure are still within the protection scope of the present disclosure.

Claims

1. A semi-physical simulation system, characterized in that: include: Control calculation module, simulation module, and simulated motion environment simulation module; The control calculation module is used to send control instructions to the simulation calculation module; The simulation module is used to simulate and calculate the calculated motion position data, calculated attitude data, calculated velocity increment data, and calculated angle increment data of the aircraft in real time according to the control instructions; The simulated motion environment simulation module is used to provide real-time angular motion environment simulation and acceleration environment simulation for the inertial measurement combination module; The simulation module is further used to determine whether the simulation posture data exceeds a preset posture simulation range of the simulation motion environment simulation module; If exceeded, outputting a first turntable control instruction to the simulated motion environment simulation module and outputting calculated angle increment data and calculated speed increment data to replace the actual angle increment data and actual speed increment data measured by the simulated motion environment simulation module; otherwise, outputting a second turntable control instruction to the simulated motion environment simulation module and outputting calculated speed increment data to replace the actual speed increment data measured by the simulated motion environment simulation module; The simulated motion environment simulation module stops running in response to the first turntable control instruction; obtains the calculated angle increment data and the calculated speed increment data and outputs them to the control calculation module; responds to the second turntable control instruction, performs posture adjustment and control according to the calculated posture data, obtains the actual angle increment data and the calculated speed increment data and outputs them to the control calculation module.

2. The semi-physical simulation system according to claim 1, characterized in that: The simulated motion environment simulation module includes a turntable and an inertial measurement combination module installed on the turntable; The turntable, in response to the first turntable control instruction, stops running, and obtains the calculated angle increment data and the calculated speed increment data through the inertial measurement combination module and outputs them to the control calculation module; The turntable, in response to the second turntable control instruction, performs posture adjustment and control according to the calculated posture data; and obtains the actual angle increment data and the calculated speed increment data through the inertial measurement combination module and outputs them to the control calculation module.

3. The semi-physical simulation system according to claim 1, characterized in that: The simulation module includes a simulation calculation module, a judgment module, a replacement module, and a simulation turntable control module; The simulation calculation module is used to simulate and calculate the calculated motion position data, calculated attitude data, calculated speed increment data, and calculated angle increment data of the aircraft in real time according to the control instructions; The judging module is used to judge whether the simulated posture data exceeds a preset posture simulation range of the simulated motion environment simulation module; The replacement module is used to output the calculated angle increment data and the calculated velocity increment data to the inertial measurement combination module to replace the actual angle increment data and the actual velocity increment data measured by the inertial measurement combination module when the simulated attitude data exceeds the preset attitude simulation range of the turntable; or, when the simulated attitude data is within a preset attitude simulation range of the turntable, outputting the calculated velocity increment data to the inertial measurement combination module to replace the actual velocity increment data measured by the inertial measurement combination module; The simulation turntable control module is used to output a first turntable control instruction to the turntable when the simulation posture data exceeds the preset posture simulation range of the turntable; or output a second turntable control instruction to the turntable when the simulation posture data is within the preset posture simulation range of the turntable.

4. The semi-physical simulation system according to claim 2, characterized in that: The control calculation module is also used to adjust the flight attitude of the aircraft according to the actual angle increment data and calculated speed increment data sent by the simulated motion environment simulation module, or the calculated angle increment data and calculated speed increment data, and generate control instructions.

5. A semi-physical simulation method, characterized in that: include: Sending control instructions to the simulation calculation module through the control calculation module; The simulation module calculates the calculated motion position data, calculated attitude data, calculated velocity increment data, and calculated angle increment data of the aircraft in real time according to the control instruction; The simulation environment module provides the inertial measurement module with angular motion environment simulation and acceleration environment simulation in real time. Determine, by means of a simulation module, whether the simulation posture data exceeds a preset posture simulation range of a simulation motion environment simulation module; If exceeded, outputting a first turntable control instruction to the simulated motion environment simulation module and outputting calculated angle increment data and calculated speed increment data to replace the actual angle increment data and actual speed increment data measured by the simulated motion environment simulation module; otherwise, outputting a second turntable control instruction to the simulated motion environment simulation module and outputting calculated speed increment data to replace the actual speed increment data measured by the simulated motion environment simulation module; The simulated motion environment simulation module responds to the first turntable control instruction to stop running; obtains the calculated angle increment data and the calculated speed increment data and outputs them to the control calculation module; responds to the second turntable control instruction, performs posture adjustment and control according to the calculated posture data, obtains the actual angle increment data and the calculated speed increment data and outputs them to the control calculation module.

6. The semi-physical simulation method according to claim 5, characterized in that: The simulated motion environment simulation module responds to the first turntable control instruction and stops running; the calculated angle increment data and the calculated speed increment data are obtained and output to the control calculation module, including The turntable stops running in response to the first turntable control instruction, and the calculated angle increment data and the calculated speed increment data are acquired through the inertial measurement combination module and output to the control calculation module.

7. The semi-physical simulation method according to claim 6, characterized in that: The step of responding to the second turntable control instruction, adjusting and controlling the posture according to the calculated posture data, acquiring the actual angle increment data and the calculated speed increment data and outputting them to the control calculation module includes: Through the turntable, in response to the second turntable control instruction, posture adjustment and control are performed according to the calculated posture data; and the actual angle increment data and the calculated speed increment data are obtained through the inertial measurement combination module and output to the control calculation module.

8. The semi-physical simulation method according to claim 7, characterized in that: The simulation module calculates the motion position data, attitude data, speed increment data, and angle increment data of the aircraft in real time according to the control instruction, including The simulation calculation module is used to simulate and calculate the motion position data, attitude data, speed increment data, and angle increment data of the aircraft in real time according to the control instructions.

9. The semi-physical simulation method according to claim 8, characterized in that: The simulation module determines whether the simulated posture data exceeds the preset posture simulation range of the simulated motion environment simulation module; if it exceeds, outputs a first turntable control instruction to the simulated motion environment simulation module and outputs calculated angle increment data and calculated speed increment data to replace the actual angle increment data and actual speed increment data measured by the simulated motion environment simulation module; otherwise, outputs a second turntable control instruction to the simulated motion environment simulation module and outputs calculated speed increment data to replace the actual speed increment data measured by the simulated motion environment simulation module, including Determine by a judgment module whether the simulation posture data exceeds a preset posture simulation range of the simulation motion environment simulation module; When the simulated attitude data exceeds a preset attitude simulation range of the turntable, the replacement module outputs the calculated angle increment data and the calculated velocity increment data to the inertial measurement combination module to replace the actual angle increment data and the actual velocity increment data measured by the inertial measurement combination module; or, when the simulated attitude data is within a preset attitude simulation range of the turntable, outputting the calculated velocity increment data to the inertial measurement combination module to replace the actual velocity increment data measured by the inertial measurement combination module; The simulation turntable control module outputs a first turntable control instruction to the turntable when the simulation posture data exceeds the preset posture simulation range of the turntable; or outputs a second turntable control instruction to the turntable when the simulation posture data is within the preset posture simulation range of the turntable.

10. The semi-physical simulation method according to claim 5, characterized in that: After the simulation motion environment simulation module responds to the first turntable control instruction and stops running; obtains the calculated angle increment data and the calculated speed increment data and outputs them to the control calculation module; responds to the second turntable control instruction, performs posture adjustment and control according to the calculated posture data, obtains the actual angle increment data and the calculated speed increment data and outputs them to the control calculation module, the method also includes The control calculation module adjusts the flight attitude of the aircraft according to the actual angle increment data and calculated speed increment data sent by the simulated motion environment simulation module, or the calculated angle increment data and calculated speed increment data, and generates a control instruction.

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