Simulink-based aircraft semi-physical simulation model design method and system

Abstract

The invention relates to an aircraft semi-physical simulation model design method based on simulink, and the method comprises the steps: dividing a to-be-built semi-physical simulation model into a plurality of building hierarchies from a bottom layer to a top layer according to the requirements of aircraft semi-physical simulation, and each building hierarchy comprises a plurality of function modules, in any two adjacent building hierarchies, the function modules in the building hierarchies with the higher number of hierarchies comprise a plurality of function modules in the building hierarchies with the lower number of hierarchies; the function module in the building hierarchy with the lowest hierarchy number is provided with a simulation interface; building a mathematical controlled model based on the divided building hierarchy; building a semi-physical simulation communication model based on the divided building hierarchy; and obtaining a semi-physical simulation model based on the mathematical controlled model and the semi-physical simulation communication model. According to the method, building hierarchies are divided, simulation interfaces are developed, semi-physical simulation can be carried out from each flight stage and key flight time, and some parts in the model can be added, deleted or modified.

Description

Technical Field

[0001] This application relates to the field of aircraft control simulation, and specifically relates to a design method and system of a hardware-in-the-loop simulation model for an aircraft based on Simulink. Background Art

[0002] During the development process of an aircraft, hardware-in-the-loop simulation is a key step to verify the matching of the aircraft's electrical system and the robustness of the control algorithm. It is necessary to ensure the reliability, scientificity, and maintainability of the hardware-in-the-loop simulation model.

[0003] Currently, for hardware-in-the-loop simulation at home and abroad, there are those that build a hardware-in-the-loop simulation model based on C++, and there are also those that build a hardware-in-the-loop simulation model based on Simulink of Matlab, which are compiled and downloaded into a real-time simulation system (such as Higalview) for simulation; building a hardware-in-the-loop simulation based on Simulink of Matlab has the characteristics of strong visualization, compatibility with control theory design, strong modularity, and clear structure, and is widely used in various research institutes and universities. However, there are also problems such as complex version management, cumbersome changes to large models, and low reliability, accuracy, and standardization of the models. Summary of the Invention

[0004] This application provides a design method and system of a hardware-in-the-loop simulation model for an aircraft based on Simulink, which can solve the problems of complex version management and cumbersome changes to large models existing in the hardware-in-the-loop simulation based on Simulink of Matlab in the prior art.

[0005] [[ID= nineteen]]An embodiment of this application provides a design method of a hardware-in-the-loop simulation model for an aircraft based on Simulink, which includes:

[0006] According to the requirements of the hardware-in-the-loop simulation of the aircraft, the to-be-built hardware-in-the-loop simulation model is divided into multiple building levels in the order from bottom to top. Each building level includes several functional modules, and in any two adjacent building levels, the functional modules in the building level with a higher level number include several functional modules in the building level with a lower level number; the functional modules in the building level with the lowest level number are provided with simulation interfaces;

[0007] Based on the divided building levels, construct a mathematical controlled model;

[0008] Based on the divided building levels, construct a hardware-in-the-loop simulation communication model;

[0009] Based on the mathematical controlled model and the hardware-in-the-loop simulation communication model, obtain a hardware-in-the-loop simulation model.

[0010] In one embodiment, based on the divided construction levels, when constructing the mathematical controlled model, the divided construction levels include a first atomic-level model, a first subsystem-level model, and a first functional component-level model sorted in sequence from the bottom layer to the top layer.

[0011] In one embodiment, based on the divided construction levels, constructing the mathematical controlled model specifically includes:

[0012] Based on the functional modules included in the first functional component-level model, construct a hardware-in-the-loop simulation dynamics and kinematics model;

[0013] Adopt the bias injection method to inject the simulation bias parameters into the hardware-in-the-loop simulation dynamics and kinematics model to obtain an initial mathematical controlled model that meets the set requirements;

[0014] Verify the initial mathematical controlled model until the verification passes to obtain the mathematical controlled model.

[0015] In one embodiment, verifying the initial mathematical controlled model specifically includes:

[0016] Take R(s) as the verification parameter and input it into the initial mathematical controlled model to output the state parameter C(s);

[0017] Compare the state parameter C(s) with the state parameter T(s) observed by control theory to determine whether the deviation between the two is within the preset deviation range;

[0018] If so, the initial mathematical controlled model passes the verification;

[0019] Otherwise, adjust the initial mathematical controlled model and verify it again.

[0020] In one embodiment, the first atomic-level model includes a thrust calculation module, an aerodynamic force calculation module, an aerodynamic moment calculation module, an aircraft mass calculation module, and an aircraft center of mass calculation module;

[0021] The first subsystem-level model includes a first-stage flight segment aircraft state calculation module, a second-stage flight segment aircraft state calculation module, a kinematics module about the center of mass, a kinematics module of the center of mass, and a hardware transfer function simulation subsystem.

[0022] In one embodiment, based on the divided construction levels, when constructing the hardware-in-the-loop simulation communication model, the divided construction levels include a second atomic-level model, a second subsystem-level model, and a second functional component-level model sorted in sequence from the bottom layer to the top layer.

[0023] In one embodiment, based on the divided construction levels, constructing the hardware-in-the-loop simulation communication model specifically includes:

[0024] Based on the functional modules included in the second functional component level model, an initial model of hardware-in-the-loop simulation communication is constructed;

[0025] The semi-physical simulation communication initial module is verified until the verification is passed to obtain a semi-physical simulation communication model.

[0026] In one embodiment, verifying the initial module of the hardware-in-the-loop simulation communication specifically includes:

[0027] Short-circuit the signal input bus and output bus in the semi-physical simulation communication initial module, and run the semi-physical simulation communication initial module;

[0028] Perform signal verification to determine whether the content of the received signal is consistent with the content of the sent signal;

[0029] If yes, the initial module verification of the hardware-in-the-loop simulation communication is passed;

[0030] Otherwise, adjust the faulty functional module in the initial module of hardware-in-the-loop simulation communication and re-verify.

[0031] In one embodiment, the second atomic-level model includes a CAN signal sending module, a 422 signal sending module, a 1553B signal sending module, a CAN signal receiving module, a 422 signal receiving module, a 1553B signal receiving module, a strapdown inertial element GTM matrix compensation calculation module, a data conversion module, and a framing module;

[0032] The second subsystem-level model includes a card calling and signal receiving subsystem, a board calling and signal sending subsystem, and an inertial measurement and navigation subsystem.

[0033] In one embodiment, based on the building level, before building the mathematical controlled model, the method further includes:

[0034] Based on the set conditions, configure the sampling period of the semi-physical simulation model to be built;

[0035] The setting conditions include:

[0036] The model sampling period is less than or equal to the inertial group pulse driving period required by the flight control;

[0037] The model sampling period satisfies Shannon's sampling theorem and is a multiple of the cutoff frequency of the attitude control system;

[0038] The model sampling period is less than or equal to the preset percentage of the second-order oscillation frequency;

[0039] The model sampling period is greater than the set period of semi-physical equipment calculation.

[0040] The beneficial effects brought by the technical solutions provided in the embodiments of the present application include:

[0041] The embodiments of the present application provide a method and system for designing a hardware-in-the-loop simulation model of an aircraft based on Simulink. Before building the hardware-in-the-loop simulation model, the building levels are first divided, that is, a large system is divided into several relatively independent but interrelated subsystems or modules, and simulation interfaces are set in the functional modules at the lowest building level, ensuring the accurate transmission and interaction of information between levels, and enabling flexible switching and simulation between different levels, facilitating hardware-in-the-loop simulation starting from each flight phase and key flight time, improving the development efficiency. At the same time, through the simulation interface, certain parts of the model can be easily added, deleted, or modified without having to redesign and simulate the entire system, solving the problems of complex version management and cumbersome modification of large models in hardware-in-the-loop simulation. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a schematic flow diagram of the method for designing a hardware-in-the-loop simulation model of an aircraft based on Simulink in the present application;

[0043] Figure 2 It is a schematic diagram of a standard input feedback system in the present application;

[0044] Figure 3 It is a schematic diagram of the method for optimizing the loop iteration of the hardware-in-the-loop simulation communication module in the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0045] In order to enable those skilled in the art to better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0046] The present application provides a method and system for designing a hardware-in-the-loop simulation model of an aircraft based on Simulink, which can solve the problems of complex version management and cumbersome modification of large models in building hardware-in-the-loop simulation based on Simulink of Matlab in the prior art.

[0047] In the first aspect, the embodiments of the present application provide a method for designing a hardware-in-the-loop simulation model of an aircraft based on Simulink.

[0048] In one embodiment, referring to Figure 1 , Figure 1This is a schematic diagram of the design method flow of the aircraft hardware-in-the-loop simulation model based on Simulink. As Figure 1 shown, the design method of the aircraft hardware-in-the-loop simulation model based on Simulink includes:

[0049] 101: According to the requirements of the aircraft hardware-in-the-loop simulation, divide the to-be-built hardware-in-the-loop simulation model into multiple building levels in the order from the bottom layer to the top layer. Each of the building levels includes several functional modules, and in any two adjacent building levels, the functional modules in the building level with a higher level number include several functional modules in the building level with a lower level number; the functional modules in the building level with the lowest level number are provided with simulation interfaces;

[0050] 102: Based on the divided building levels, construct a mathematical controlled model;

[0051] 103: Based on the divided building levels, construct a hardware-in-the-loop simulation communication model;

[0052] 104: Based on the mathematical controlled model and the hardware-in-the-loop simulation communication model, obtain the hardware-in-the-loop simulation model.

[0053] In this application, before building the hardware-in-the-loop simulation model, the building levels are first divided, that is, a large system is divided into several relatively independent but interrelated subsystems or modules, and the functional modules in the building level with the lowest level number are provided with simulation interfaces, ensuring the accurate transmission and interaction of information between each level, and can be flexibly switched and simulated between different levels, facilitating the hardware-in-the-loop simulation to start from each flight stage and key flight time, improving the development efficiency. At the same time, through the simulation interface, certain parts of the model can be conveniently added, deleted or modified without re-designing and simulating the entire system, solving the problems of complex version management and cumbersome large model changes in hardware-in-the-loop simulation.

[0054] In this application, the multiple building levels include three-layer model nesting of the atomic-level model, subsystem-level model and functional component-level model. The atomic-level model is the building level with the lowest level number and includes several functional modules. There are several atomic-level models under each subsystem-level model, and the functional component-level model contains several subsystem-level components.

[0055] Among them, the atomic-level model realizes the basic function points. In this application, the bias injection simulation interface should be retained in the atomic-level model and a certain degree of encapsulation should be implemented; the subsystem-level model is divided according to the file input in the development process and each typical stage of the aircraft, facilitating the later proofreading of the input file; the functional component-level model determines the input-output relationship of each part of the component and realizes classification.

[0056] In different models, due to differences in system complexity, application fields, and design goals, the included atomic-level models, subsystem-level models, and functional component-level models will also vary.

[0057] Therefore, based on the above embodiments, in this embodiment, when constructing a mathematical controlled model based on the divided construction levels, the divided construction levels include a first atomic-level model, a first subsystem-level model, and a first functional component-level model arranged in sequence from the bottom layer to the top layer. Among them, a simulation interface is set in the first atomic-level model.

[0058] Furthermore, when constructing a mathematical controlled model based on the divided construction levels, it specifically includes steps 1021 to 1023:

[0059] Step 1021: Construct a hardware-in-the-loop simulation dynamics and kinematics model based on the functional modules included in the first functional component-level model.

[0060] Specifically, the hardware-in-the-loop simulation dynamics and kinematics model belongs to the first functional component-level model. The first functional component-level model internally includes typical first subsystem-level models, and each first subsystem-level model has each first atomic-level model below it.

[0061] Therefore, first construct the first atomic-level model. In this embodiment, the first atomic-level model includes a thrust calculation module, an aerodynamic force calculation module, an aerodynamic moment calculation module, an aircraft mass calculation module, an aircraft center of mass calculation module, etc. Among them, the thrust calculation module is mainly responsible for calculating the thrust generated by the aircraft according to engine control parameters such as ignition commands; the aerodynamic force calculation module is mainly responsible for calculating the aerodynamic force in the current shape and state according to the current position, speed, angle of attack, sideslip angle, actuator deflection angle, etc. of the aircraft; the aerodynamic moment calculation module is similar, calculating the aerodynamic moment in the current shape and state; the aircraft mass calculation module calculates the current aircraft mass according to the current engine combustion condition; the aircraft center of mass calculation module calculates the position and moment of inertia of the aircraft center of mass according to the current aircraft mass and the current engine combustion condition.

[0062] Then, a number of first atomic-level models are combined according to set conditions to build a first subsystem-level model. The first subsystem-level model includes a first-stage flight segment aircraft state calculation module, a second-stage flight segment aircraft state calculation module, a kinematics module about the center of mass, a center-of-mass kinematics module, and a hardware transfer function simulation subsystem. It should be noted that the models included in the first subsystem-level model are related to the aircraft, and different types of aircraft contain different types of models. Among them, the first-stage flight segment aircraft state calculation module, that is, the first-stage flight segment aircraft force and moment calculation module, mainly calculates aircraft states such as the forces, moments, mass center of mass, moment of inertia, and elastic oscillations generated by the aircraft in the first-stage flight segment; the second-stage flight segment aircraft state calculation module is similar; the kinematics module about the center of mass performs integral calculations on the attitude angular rate according to the aircraft state to obtain the aircraft attitude angular rate and attitude angle based on the inertial system; the center-of-mass kinematics module performs integral calculations on the position according to the aircraft state to obtain the aircraft motion position, velocity, acceleration, etc. based on the launch system; the hardware transfer function simulation subsystem is responsible for performing transfer function simulation on the received control commands and restoring as real as possible the response of the hardware to the control commands. The response result of this system is used as the calculation input for modules such as forces and moments in each stage of flight.

[0063] After the first subsystem-level model is built, the hardware-in-the-loop simulation dynamics and kinematics model is completed.

[0064] Step 1022: Use the bias injection method to inject the simulation bias parameters into the hardware-in-the-loop simulation dynamics and kinematics model to obtain a mathematical initial controlled model that meets the set requirements.

[0065] Among them, the mathematical initial controlled model meeting the set requirements means that the mathematical initial controlled model meets the bias range requirements.

[0066] Specifically, the bias injection method is a technical means of artificially introducing deviations during the simulation process, used to evaluate the performance and stability of the system under deviation conditions. This method can simulate various abnormal situations that may occur during actual flight and verify the fault tolerance and robustness of the system.

[0067] In this application, first run the hardware-in-the-loop simulation dynamics and kinematics modules and determine the current state of the hardware-in-the-loop simulation dynamics and kinematics modules. Then, use the bias injection method based on S-function. In the output callback function of the S-function, based on the bias table corresponding to the preset state number, select the corresponding bias table according to the current state number, read the corresponding bias value from the bias table, and inject it into the hardware-in-the-loop simulation dynamics and kinematics modules to complete the integration of the simulation bias module and the hardware-in-the-loop simulation dynamics and kinematics modules.

[0068] The bias injection method based on the S-function realizes state selection of the if-else structure or the switch structure internally, has the advantages of one-time compilation and multiple simulations, and at the same time introduces an observation module display at the module output interface, which can observe the deviation state output under different states. The simulation bias parameters in the simulation bias module are introduced into each first subsystem-level model and the first atomic-level model of the hardware-in-the-loop simulation dynamics and kinematics model through the data bus, and then deviations are implemented on the corresponding physical quantities to inject various deviations in the aircraft hardware-in-the-loop simulation.

[0069] Step 1023: Refer to Figure 2 As shown, verify the initial mathematical controlled model until the verification passes to obtain the mathematical controlled model.

[0070] Specifically, after the initial mathematical controlled model is built, it enters the cyclic iterative optimization design stage.

[0071] During verification, abstract the built mathematical controlled model into a transfer function H(s), and based on the transfer function H(s), construct an open-loop input simulation model. Input the parameters to be verified in the open-loop input simulation model, and the model operating state parameters C(s) can be calculated.

[0072] The constructed open-loop input simulation model is:

[0073] Among them, R(s) is the control result of the closed-loop output of control theory, that is, the input parameter provided by control theory for model verification. Use it as the input of the open-loop input simulation model to observe the output parameter C(s) calculated by the hardware-in-the-loop model. R(s) includes aircraft control results such as: control timing flag, flight time T, direct force switch command Pg(i), indirect force control rudder deflection signal Rd(i), etc. C(s) is the output of the open-loop input simulation model.

[0074] After the open-loop input simulation model is built, based on the open-loop input simulation model and the control theory observation state parameter T(s), construct a standard input feedback system: E(s) = C(s) - T(s);

[0075] Therefore, input the model operating state parameter C(s) in the standard input feedback system to obtain the deviation parameter E(s), that is, use R(s) as the verification parameter, input it into the initial mathematical controlled model to output the state parameter C(s), compare the state parameter C(s) with the state parameter T(s) observed by control theory to obtain the deviation parameter E(s), and after comparing the deviation parameter E(s) with the set threshold range, if the deviation parameter is within the set threshold range, the verification passes; otherwise, adjust the initial mathematical controlled model and verify again.

[0076] Among them, the output parameter C(s) and the state parameter T(s) observed by control theory include the state results calculated by the aircraft according to the control results, such as the center-of-mass forces Fxyz(i) at each stage, the moments Mxyz(i) about the center of mass at each stage, the angle of attack and sideslip angle αβ, the attitude angles ψγ, the generated apparent acceleration Axyz, the angular rate ωxyz, the control force Fcxyz generated by the controller, the moment Mcxyz, the mass Mass of the aircraft, the moment of inertia Jxyz, the elastic angular rate Exyz, etc.

[0077] In this embodiment, according to the three-layer model division method of the atomic-level model, subsystem-level model, and functional component-level model described above, the error module can be quickly located for rechecking and recalculating to ensure the correctness and rationality of the construction of the initial mathematical controlled model.

[0078] Based on the above embodiment, in this embodiment, in the construction of the hardware-in-the-loop simulation communication model based on the divided construction levels, the divided construction levels include the second atomic-level model, the second subsystem-level model, and the second functional component-level model arranged in sequence from bottom to top. Among them, a simulation interface is set in the second atomic-level model.

[0079] Further, based on the divided construction levels, the construction of the hardware-in-the-loop simulation communication model specifically includes steps 1031 to 1032:

[0080] Step 1031: Based on the function modules included in the second functional component-level model, construct an initial hardware-in-the-loop simulation communication model.

[0081] Specifically, the initial hardware-in-the-loop simulation communication model belongs to the second functional component-level model. The second functional component-level model internally includes typical second subsystem-level models, and each second subsystem-level model has each second atomic-level model.

[0082] Therefore, first construct the second atomic-level model. In this embodiment, the second atomic-level model includes a CAN signal sending module, a 422 signal sending module, a 1553B signal sending module, a CAN signal receiving module, a 422 signal receiving module, a 1553B signal receiving module, etc., which are respectively responsible for the signal sending and parsing of the corresponding transmission protocols; there are a strapdown inertial element GTM matrix compensation calculation module, a data conversion module, a framing module, etc., which are responsible for coordinate conversion, data conversion and framing of information such as position, velocity, acceleration, and angular velocity, and then transmit it to the corresponding interface module for data sending.

[0083] Then, a number of second atomic-level models are combined according to set conditions to build a second subsystem-level model, which includes a card call and signal reception subsystem, a board card call and signal transmission subsystem, and an inertial measurement and navigation subsystem. The board card call and signal reception subsystem is responsible for receiving and parsing key bus signals; the board card call and signal transmission subsystem is responsible for framing, board card calling, and sending commands required by modules during the hardware-in-the-loop simulation process; the inertial measurement and navigation subsystem is responsible for calculating and giving navigation outputs to the hardware-in-the-loop simulation communication module based on the position velocity, acceleration, angular velocity, etc. given by the kinematics and dynamics modules.

[0084] Step 1032: Verify the hardware-in-the-loop simulation communication initial module until the verification passes to obtain the hardware-in-the-loop simulation communication model.

[0085] In this embodiment, after the hardware-in-the-loop simulation communication initial module is built, it enters the cyclic iterative optimization design stage. Specifically:

[0086] First, on the hardware-in-the-loop simulation computer, short-circuit the signal input bus and output bus in the hardware-in-the-loop simulation communication initial module and run the hardware-in-the-loop simulation communication initial module.

[0087] Then, as shown in Figure 3 perform signal verification: input a test signal, parse the test signal, and determine whether the content of the received parsed test signal is the same as the content of the sent input test signal; if so, the hardware-in-the-loop simulation communication initial module passes the verification; otherwise, adjust the faulty functional module in the hardware-in-the-loop simulation communication initial module and verify again.

[0088] It should be noted that when the content of the received parsed test signal is the same as the content of the sent input test signal, it is also necessary to ensure that the received parsed test signal and the sent input test signal comply with the communication protocol requirements.

[0089] In this embodiment, the input test signal and the parsed test signal are compared to quickly locate the communication module and channel with parsing faults, and recheck and recalculate to ensure the correctness and rationality of the construction of the hardware-in-the-loop simulation communication module.

[0090] Based on the above embodiments, in this embodiment, based on the mathematical controlled model and the hardware-in-the-loop simulation communication model, in the obtained hardware-in-the-loop simulation model, after both the mathematical controlled model and the hardware-in-the-loop simulation communication model are debugged in place, the completed hardware-in-the-loop simulation model can be combined and built to carry out a closed-loop hardware-in-the-loop simulation test to verify the matching of the aircraft electrical system, the robustness of the control algorithm, and finalize and archive.

[0091] On the basis of the above embodiment, in this embodiment, based on the building level, before building the mathematical controlled model, the method further includes:

[0092] Based on the set conditions, configure the sampling period of the semi-physical simulation model to be built. That is, first, it is necessary to comprehensively consider the aircraft control period, inertial component measurement period, aircraft body elastic frequency, and the computing power of the semi-physical simulation equipment, select an appropriate sampling period, and then start building the semi-physical simulation model.

[0093] The setting conditions include:

[0094] The model sampling period must be less than or equal to the inertial group pulse drive period required by the flight control system. If the inertial group pulse number is double-cycle (the velocity increment update period is inconsistent with the angular velocity increment update period), the model sampling period must be less than or equal to the short period.

[0095] The model sampling period satisfies Shannon's sampling theorem and is a set multiple of the attitude control system cutoff frequency. In this embodiment, it is 10 to 20 times the attitude control system cutoff frequency.

[0096] The model sampling period is less than or equal to a preset percentage of the second-order oscillation frequency, wherein the preset percentage is in a range of 25% to 35%, so that the model sampling period is sufficient to calculate the second-order elastic oscillation frequency without causing divergence;

[0097] The model sampling period is greater than the set period of the semi-physical device calculation. In this embodiment, the model sampling period should be greater than the minimum period of the semi-physical device calculation. In models with a period of less than or equal to 5ms, the model is equipped with a clock board to ensure the accuracy of the simulation period.

[0098] In summary, in this application, a segmented simulation interface is opened up at the above-mentioned subsystem-level model granularity (such as the first-level flight segment aircraft state calculation module and the second-level flight segment aircraft state calculation module), which facilitates semi-physical simulation from various flight stages and key flight times to improve development efficiency. This method can effectively improve the reliability, accuracy, and standardization of the aircraft semi-physical simulation model, improve the efficiency of aircraft semi-physical simulation, and shorten the aircraft development cycle. It should be noted that the initialization of the aircraft's current attitude angle, attitude angular velocity, and position velocity required for segmented simulation are selected from the overall provided standard flight file, and the deviation of the overall requirement is superimposed; or the standard trajectory given by the control theory or the rated state stored by the simulation calculation is superimposed with the separation deviation as the state starting point.

[0099] Second aspect, an embodiment of the present application provides a device for designing a hardware-in-the-loop simulation model of an aircraft based on Simulink. The device for designing a hardware-in-the-loop simulation model of an aircraft based on Simulink can be a device with data processing functions such as a personal computer (PC), a laptop, a server, etc.

[0100] In an embodiment of the present application, the device for designing a hardware-in-the-loop simulation model of an aircraft based on Simulink may include a processor, a memory, a communication interface, and a communication bus.

[0101] Among them, the communication bus can be of any type and is used to interconnect the processor, the memory, and the communication interface.

[0102] The communication interface includes interfaces such as input / output (I / O) interfaces, physical interfaces, and logical interfaces for implementing interconnection of components inside the device for designing a hardware-in-the-loop simulation model of an aircraft based on Simulink, and interfaces for implementing interconnection between the device for designing a hardware-in-the-loop simulation model of an aircraft based on Simulink and other devices (such as other computing devices or user devices). The physical interface can be an Ethernet interface, an optical fiber interface, an ATM interface, etc.; the user device can be a display, a keyboard, etc.

[0103] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical memory, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0104] The processor can be a general-purpose processor, and the general-purpose processor can call the program for designing a hardware-in-the-loop simulation model of an aircraft based on Simulink stored in the memory and execute the method for designing a hardware-in-the-loop simulation model of an aircraft based on Simulink provided by the embodiment of the present application. For example, the general-purpose processor can be a central processing unit (CPU). Among them, the method executed when the program for designing a hardware-in-the-loop simulation model of an aircraft based on Simulink is called can refer to each embodiment of the method for designing a hardware-in-the-loop simulation model of an aircraft based on Simulink in the present application, which will not be elaborated here.

[0105] In a third aspect, an embodiment of the present application further provides a computer-readable storage medium.

[0106] A program for designing a hardware-in-the-loop simulation model of an aircraft based on Simulink is stored on the computer-readable storage medium of the present application. When the program for designing a hardware-in-the-loop simulation model of an aircraft based on Simulink is executed by a processor, the steps of the method for designing a hardware-in-the-loop simulation model of an aircraft based on Simulink as described above are implemented.

[0107] Wherein, the method implemented when the program for designing a hardware-in-the-loop simulation model of an aircraft based on Simulink is executed can refer to the various embodiments of the method for designing a hardware-in-the-loop simulation model of an aircraft based on Simulink in the present application, and will not be elaborated here.

[0108] It should be noted that the serial numbers of the embodiments of the present application above are only for description and do not represent the superiority or inferiority of the embodiments.

[0109] The terms "comprising" and "having" and any variations thereof in the specification and claims of the present application and the above-mentioned drawings are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products or devices. The descriptions with terms such as "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit that "first", "second" and "third" are of different types.

[0110] In the description of the embodiments of the present application, terms such as "exemplary", "for example" or "for instance" are used to represent examples, illustrations or explanations. Any embodiment or design solution described as "exemplary", "for example" or "for instance" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of terms such as "exemplary", "for example" or "for instance" is intended to present relevant concepts in a specific manner.

[0111] In the description of the embodiments of the present application, unless otherwise specified, " / " means "or". For example, A / B may mean A or B; "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present application, "a plurality of" means two or more than two.

[0112] In some processes described in the embodiments of the present application, there are multiple operations or steps that appear in a specific order. However, it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of the present application or may be executed in parallel. The serial numbers of the operations are only used to distinguish different operations, and the serial numbers themselves do not represent any execution order. Additionally, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.

[0113] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-described embodiment methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation. Based on such an understanding, the technical solution of the present application, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium as described above (such as ROM / RAM, magnetic disk, optical disc), and includes several instructions for causing a terminal device to execute the methods described in various embodiments of the present application.

[0114] The above are only the preferred embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structural or equivalent process transformation made by using the contents of the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present application.

Claims

1. A design method for a semi-physical simulation model of an aircraft based on Simulink, characterized in that, It includes: According to the requirements of the aircraft hardware-in-the-loop simulation, the to-be-built hardware-in-the-loop simulation model is divided into multiple building levels in the order from the bottom layer to the top layer. Each of the building levels includes several functional modules, and in any two adjacent building levels, the functional modules in the building level with a higher level number include several functional modules in the building level with a lower level number; the functional modules in the building level with the lowest level number are provided with simulation interfaces. Based on the divided building levels, a mathematical controlled model is constructed. Based on the divided building levels, a hardware-in-the-loop simulation communication model is constructed. Based on the mathematical controlled model and the hardware-in-the-loop simulation communication model, a hardware-in-the-loop simulation model is obtained.

2. The method for designing an aircraft hardware-in-the-loop simulation model based on Simulink according to claim 1, characterized in that: In constructing the mathematical controlled model based on the divided building levels, the divided building levels include a first atomic-level model, a first subsystem-level model, and a first functional component-level model sorted in sequence from the bottom layer to the top layer.

3. The method for designing a semi-physical simulation model of an aircraft based on Simulink according to claim 2, characterized in that, Constructing the mathematical controlled model based on the divided building levels specifically includes: Based on the functional modules included in the first functional component-level model, a hardware-in-the-loop simulation dynamics and kinematics model is constructed. Using the bias injection method, simulation bias parameters are injected into the hardware-in-the-loop simulation dynamics and kinematics model to obtain an initial mathematical controlled model that meets the set requirements. The initial mathematical controlled model is verified until the verification passes to obtain the mathematical controlled model.

4. The method for designing a semi-physical simulation model of an aircraft based on Simulink according to claim 3, wherein, Verifying the initial mathematical controlled model specifically includes: Taking R(s) as a verification parameter and inputting it into the initial mathematical controlled model to output the state parameter C(s). Comparing the state parameter C(s) with the state parameter T(s) observed by control theory to determine whether the deviation between the two is within the preset deviation range. If so, the initial mathematical controlled model passes the verification. Otherwise, adjust the initial mathematical controlled model and verify it again.

5. The method for designing an aircraft hardware-in-the-loop simulation model based on Simulink according to claim 2, characterized in that: The first atomic-level model includes a thrust calculation module, an aerodynamic force calculation module, an aerodynamic moment calculation module, an aircraft mass calculation module, and an aircraft centroid calculation module. The first subsystem-level model includes a first-stage flight segment aircraft state calculation module, a second-stage flight segment aircraft state calculation module, a kinematics module about the centroid, a centroid kinematics module, and a hardware transfer function simulation subsystem.

6. The method for designing an aircraft hardware-in-the-loop simulation model based on Simulink according to claim 1, characterized in that: In constructing the hardware-in-the-loop simulation communication model based on the divided building levels, the divided building levels include a second atomic-level model, a second subsystem-level model, and a second functional component-level model sorted in sequence from the bottom layer to the top layer.

7. The method for designing a semi-physical simulation model of an aircraft based on Simulink according to claim 6, characterized in that, Constructing the hardware-in-the-loop simulation communication model based on the divided building levels specifically includes: Based on the functional modules included in the second functional component-level model, a hardware-in-the-loop simulation communication initial model is constructed. Verify the initial hardware-in-the-loop simulation communication module until the verification is passed to obtain the hardware-in-the-loop simulation communication model.

8. The method for designing a semi-physical simulation model of an aircraft based on Simulink according to claim 7, characterized in that, Verifying the initial hardware-in-the-loop simulation communication module specifically includes: Short-circuit the signal input bus and the output bus in the initial hardware-in-the-loop simulation communication module and run the initial hardware-in-the-loop simulation communication module; Perform signal verification to determine whether the content of the received signal is the same as the content of the transmitted signal; If so, the initial hardware-in-the-loop simulation communication module passes the verification; Otherwise, adjust the faulty functional module in the initial hardware-in-the-loop simulation communication module and re-verify.

9. The method for designing a hardware-in-the-loop simulation model of an aircraft based on Simulink according to claim 6, wherein: The second atomic-level model includes a CAN signal transmission module, a 422 signal transmission module, a 1553B signal transmission module, a CAN signal reception module, a 422 signal reception module, a 1553B signal reception module, a strapdown inertial element GTM matrix compensation calculation module, a data conversion module, and a framing module; The second subsystem-level model includes a card call and signal reception subsystem, a board card call and signal transmission subsystem, and an inertial measurement and navigation subsystem.

10. The method for designing a semi-physical simulation model of an aircraft based on Simulink according to claim 1, wherein: Before building the mathematical controlled model based on the built hierarchy, the method further includes: Configuring the sampling period of the hardware-in-the-loop simulation model to be built based on the set conditions; The set conditions include: The model sampling period is less than or equal to the driving period of the inertial group pulse number required by the flight control; The model sampling period satisfies the Shannon sampling theorem and is a set multiple of the cut-off frequency of the attitude control system; The model sampling period is less than or equal to the preset percentage of the second-order oscillation frequency; The model sampling period is greater than the set period calculated by the hardware-in-the-loop device.

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