Multi-physical field semi-physical joint simulation system and method

Abstract

The invention provides a multi-physics field semi-physical joint simulation system and method. The system comprises a multi-physics field simulation system, a modeling simulation management platform and a spacecraft minimum safety physical system. And the multi-physical simulation system is respectively connected with the modeling simulation management platform and the spacecraft minimum safety physical system through a data bus. According to the method, a unified modeling language is adopted, simulation based on energy flow and complex coupling scenes and energy flow semi-physical simulation built based on an FPGA are supported, microsecond-level synchronization of the model and a physical system is achieved, the problem that attitude control dynamics and a control model cannot be jointly simulated with the energy flow in the time dimension is solved, and the method has the advantages of being high in reliability and high in reliability. And information model coupling fault joint simulation is realized.

Description

Technical Field

[0001] The present invention belongs to the field of co-simulation and fault simulation technology, and specifically relates to a multi-physics field semi-physical co-simulation system and method. More specifically, it relates to a multi-physics field semi-physical co-simulation system and method based on a minimum safety system of a spacecraft. Background Art

[0002] As future spacecraft become increasingly complex, relying solely on pure digital simulation or single physical field simulation will make it difficult to effectively expose potential defects in the early rapid design stage of spacecraft. In particular, the results of independent modeling and simulation of multiple physical fields such as energy flow, control flow, and information flow are not credible enough, making it difficult to reflect the actual coupling status of each system and unable to achieve full life cycle and full functional performance reliability and safety design, testing, and verification.

[0003] Furthermore, with the increasing number of medium- and large-scale constellations, the number of satellites in orbit is rapidly increasing. A purely ground-based satellite tracking and control model will place a significant burden on ground control systems. Furthermore, due to the limitations of the tracking and control arc for low-orbit spacecraft, ground control lacks real-time capabilities, making it difficult to meet the requirements for long-term, reliable, and stable operation of constellations in orbit. In particular, in the event of an emergency failure outside the tracking and control arc, such as a power outage or loss of telemetry, the inability to obtain telemetry during the fault period can hinder the development of targeted countermeasures. Furthermore, the verification systems required for ground-based replication and verification of measures are highly hardware-dependent and cannot be quickly established when some hardware is missing.

[0004] Therefore, it is possible to quickly build a minimum safety system on demand and realize twin-level fault simulation of the system with full-state power-in-loop, control-in-loop and information-in-loop. This is of great significance to the formulation, verification and evaluation of spacecraft autonomous fault handling strategies and rescue strategies in the event of spacecraft on-orbit failures. It provides a solid foundation for effectively improving the verification capability of autonomous fault handling processes and the ground emergency handling capability of on-orbit faults.

[0005] Patent document CN115793493A discloses a method for on-orbit flight simulation testing of a spacecraft power supply and distribution subsystem. By establishing a digital model of the spacecraft and simulating mission scenarios, this method obtains simulation data for the on-orbit flight of the spacecraft power supply and distribution subsystem. This method provides reliable data support for safety margin assessment of the spacecraft power supply and distribution subsystem, thereby improving the accuracy of safety margin assessment. However, this method only covers the energy flow component and does not involve multi-physics field coupling co-simulation.

[0006] Patent document CN118605208A discloses a semi-physical simulation system for realizing joint fault simulation of rudder loop and attitude measurement, which relates to the field of fault simulation technology. The semi-physical simulation system mainly involves two physical devices, a rudder loop simulation device and an attitude measurement simulation device, but the patent only involves the control part and does not involve multi-physical field coupling joint simulation.

[0007] Patent document CN110850842A discloses a hardware-in-the-loop (HIL)-based, full-function, stand-alone satellite simulation system and method. This system provides a complete set of simulator signal conversion interfaces, enabling the conversion of information flows from a simulation-end stand-alone model to a real, onboard stand-alone model. This patent primarily addresses information flow conversion and does not cover the combined simulation of energy flows, control flows, and information processes.

[0008] Patent document CN110850842A discloses a lightweight spacecraft minimum safety system and implementation method. This system optimizes the minimum safety system configuration and sequentially designs power-on, hot and cold startup, and control timing for each component. It proposes a system configuration and construction method suitable for the reliable operation of lightweight spacecraft, implements spacecraft safe startup control logic and safe mode switching control logic, and ensures the continuity of aerospace energy flow, control flow, and information flow. However, this patent primarily uses purely physical means for implementation, is highly dependent on hardware, and cannot quickly verify the minimum safety system functionality when some hardware is missing, resulting in poor scalability.

[0009] Patent document CN118534789A discloses a multi-gradient modeling method and system for multi-physics field joint simulation of equipment. The patent uses a multi-gradient modeling approach to gradually increase model accuracy, optimize resource utilization, reduce modeling risks, and ensure the safety and reliability of the modeling process. However, the patent only applies to multi-physics field modeling of equipment and does not address semi-physics field simulation verification scenarios.

[0010] Patent document CN115390585B discloses a digital twin system for attitude and orbit control based on a spacecraft cluster and its construction method. This solution simplifies the testing process of attitude and orbit control software products and shortens the development cycle; however, the solution does not have good scalability and is only applicable to multi-physics field modeling of equipment, and does not reflect semi-physics field simulation verification scenarios.

[0011] This problem needs to be solved urgently. Summary of the Invention

[0012] In view of the defects in the prior art, the purpose of the present invention is to provide a multi-physics field semi-physical joint simulation system and method.

[0013] A multi-physics field semi-physical joint simulation system provided by the present invention includes: a multi-physics field simulation system, a modeling and simulation management platform, and a spacecraft minimum safety physical system;

[0014] The multi-physics simulation system is connected to the modeling and simulation management platform and the spacecraft minimum safety physical system through a data bus.

[0015] Preferably, the multi-physics field simulation system includes: an energy semi-physical system, an attitude control dynamics and control semi-physical system, and an information semi-physical system;

[0016] The energy semi-physical system, attitude control dynamics and control semi-physical system and information semi-physical system are constructed based on a unified modeling language;

[0017] The attitude control dynamics and control semi-physical system is connected to the energy semi-physical system and the information semi-physical system via a data bus.

[0018] Preferably, the energy semi-physical system includes: a charge and discharge simulator, a solar simulation array, a semi-physical power supply controller and a power amplifier; the multi-physical field simulation system can collect parameters of the charge and discharge simulator, the solar simulation array and the power amplifier, and control the power output of the semi-physical power supply controller and the output of the power amplifier through the feedback signal obtained by simulation.

[0019] Preferably, the attitude control dynamics and control semi-physical system includes: a track simulation model, an attitude sensor model, an environmental torque simulation model and an attitude execution and control simulation model;

[0020] The attitude control dynamics and control semi-physical system obtains corresponding simulation parameters based on the orbit simulation model, and then combines the parameter outputs of the attitude sensor model and the environmental torque simulation model to form and obtain the input of the attitude execution and control simulation model, thereby realizing closed-loop control.

[0021] Preferably, the cyber-physical system includes: a hardware platform architecture, an operating system, and integrated on-board electronic software;

[0022] The hardware platform architecture can provide the interfaces and environment required by the operating system and the on-board integrated electronic software. The on-board integrated electronic software can run on the operating system and realize interactive functions through the operating system and the hardware platform architecture.

[0023] Preferably, the modeling and simulation management platform includes: a multi-physics model conversion module, a multi-physics field configuration model management module, and a joint fault injection module;

[0024] The multi-physics model conversion module can jointly model multi-physics fields; the multi-physics model modeling conversion module can convert semi-physical models, and then realize joint simulation and fault simulation through the joint fault injection module.

[0025] Preferably, the minimum safe physical system of a spacecraft includes: a power supply and distribution unit, an integrated electronics unit, an attitude sensing measurement and execution unit, and a measurement and control unit;

[0026] The power supply and distribution unit can supply, store and manage the energy of the spacecraft; the integrated electronic unit can collect spacecraft instructions and execute the electric propulsion components of the spacecraft; the attitude sensing measurement and execution unit can measure the attitude angle and angular velocity of the spacecraft; the measurement and control unit can perform remote control reception and telemetry downlink.

[0027] Preferably, the multi-physics model conversion module converts the multi-physics field model into models that can be simulated and run on the CPU and FPGA respectively according to the simulation time step, including:

[0028] Determine whether the simulation time step is less than 10us. If yes, run the simulation on FPGA; if no, run the simulation on CPU.

[0029] Preferably, the data bus includes: a unified virtual data bus and a unified physical data bus;

[0030] The unified virtual data bus can convert 1553B bus, RS422, CAN bus, analog quantity, OC quantity, LVDS data and uniformly transmit data into a memory pool;

[0031] The unified physical data bus can convert 1553B bus, RS422, CAN bus, analog quantity, OC quantity, and LVDS data and transmit them uniformly to the data memory pool through the optical fiber bus, thereby realizing virtual-real interaction between data and virtual data and synchronization of parameter data in the memory pool.

[0032] A multi-physics semi-physical joint simulation method provided by the present invention is implemented based on a multi-physics semi-physical joint simulation system, comprising:

[0033] Based on the multi-physics simulation system, a unified modeling language is used to build a multi-physics model. According to the simulation time step, the multi-physics model is converted into a model that can be simulated and run on the CPU and FPGA respectively.

[0034] The physical system is connected to the simulation environment through a data interface, and the failure mode required for the target task is triggered through the modeling and simulation management platform to obtain simulation results; based on the simulation results, an abnormal physical signal is generated; the abnormal physical signal is output to the spacecraft minimum safety physical system; after the controller of the spacecraft minimum safety physical system obtains the feedback signal, it generates and sends a control signal to the simulation machine of the modeling and simulation management platform.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] 1. The present invention builds a multi-physics field joint semi-physical simulation system through a unified modeling language, completes the transformation and construction of the semi-physical model through an adaptive model conversion module, and conducts joint simulation of aerospace energy flow, control flow and information flow through a unified virtual-real data bus. It has the ability to drive the operation of the minimum safe physical system based on data and simulation models, and can break through the limitation that a single machine cannot be fully equipped at the same time, and realize the rapid construction of the minimum safe system of the spacecraft and the fault simulation functions of digital and analog full-state power-in-the-loop, control-in-the-loop and information-in-the-loop, thereby meeting the growing high-fidelity, high real-time, multi-dimensional and reusable fault simulation needs of spacecraft, and providing effective support for the autonomous, safe and stable operation of the spacecraft under fault conditions and ground emergency rescue.

[0037] 2. The present invention adopts a unified modeling language, supports simulation based on energy flow and complex coupling scenarios, and realizes microsecond-level synchronization between the model and the physical system based on the semi-physical simulation of energy flow built on FPGA, solves the difficulty that the attitude control dynamics and control model cannot be jointly simulated with the energy flow in the time dimension, and realizes the joint simulation of information model coupling failure.

[0038] 3. The present invention has good scalability and can quickly build a twin-level joint semi-physical simulation system based on the minimum safety system of the spacecraft, realize full-state fault coverage injection of the minimum system, and cover the full-link fault mode from energy flow, control flow and information flow. It is suitable for the formulation, verification and evaluation of on-orbit rescue strategies for spacecraft, significantly reduces the cost of physical testing, and is of great significance for improving on-orbit fault emergency handling and autonomous recovery capabilities.

[0039] 4. The present invention breaks through the limitation that a single spacecraft cannot be fully equipped at the same time, and realizes the rapid construction of the minimum safety system of the spacecraft and the fault simulation functions of digital and analog full-state power-in-loop, control-in-loop and information-in-loop, meeting the growing high-fidelity and high-real-time fault simulation needs of spacecraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0041] Figure 1 A schematic diagram of the system architecture provided by the present invention;

[0042] Figure 2 This is a schematic diagram of the joint simulation process provided by the present invention. DETAILED DESCRIPTION

[0043] The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those skilled in the art, several changes and improvements can be made without departing from the scope of the present invention. These all fall within the scope of protection of the present invention.

[0044] The present invention completes the conversion and construction of the semi-physical model through an adaptive model conversion module, and conducts joint simulation of aerospace energy flow, control flow, and information flow through a unified virtual-real data bus. It has the ability to drive the operation of the minimum safe physical system based on data and simulation models, and has comprehensive advantages in versatility, fault simulation depth, and virtual-real fusion architecture. Compared with traditional methods that rely solely on pure digital simulation or single physical field simulation, the present invention effectively exposes the early defects of rapid spacecraft design, overcomes the technical defects of independent modeling of the physical fields of energy flow, control flow, and information flow, which makes it difficult to reflect the actual interaction effects; the technical defects of insufficient credibility of simulation results due to difficulties in full life cycle and full functional performance reliability and safety design, testing, and verification; and the high dependence on hardware, which makes it impossible to quickly verify the minimum safe system function when some hardware is missing.

[0045] The present invention provides a multi-physics field semi-physical joint simulation system and method based on a spacecraft minimum safety system, comprising: a multi-physics field simulation system, a modeling and simulation management platform, a spacecraft minimum safety physical system, a virtual-real data interaction interface, and an integrated simulation display control terminal;

[0046] The multi-physics field simulation system uses a unified modeling language to build a multi-physics field joint semi-physical simulation system and define the interaction rules of energy flow, control flow, and information flow.

[0047] Spacecraft modeling and simulation have the characteristics of multi-user application, multi-technology integration, and cross-professional collaboration across energy flow, control flow, information flow, etc. Traditional modeling and simulation methods have problems such as inconsistent model standards, low modeling efficiency, and poor simulation accuracy. Based on the unified modeling language, a multi-physics field joint semi-physical simulation technology is built through a unified modeling language, which realizes the unification of spacecraft simulation models from pure digital simulation design to semi-physical simulation code implementation, with unified visualization, simulatable, and verifiable closed-loop management. This technology optimizes resource utilization efficiency, shortens the model development cycle, and provides important support for the rapid construction and verification of multi-physics field semi-physical simulation systems.

[0048] Specifically, the multi-physics field simulation system includes: an energy semi-physical system, an attitude control dynamics and control semi-physical system, and an information semi-physical system. Each semi-physical system includes a digital simulation part and a hardware part. Each digital simulation part is constructed based on a unified modeling language and supports dynamic coupling and parameterized adjustment.

[0049] Specifically, the energy semi-physical system includes: a charge and discharge simulator, a solar simulation array, a semi-physical power supply controller, a power amplifier and control software.

[0050] Among them, the modeling and simulation platform is responsible for loading the required semi-physical simulation model, the solar simulation array is responsible for powering the semi-physical power controller, the charge and discharge simulator serves as an equivalent battery device, and the power amplifier and control software are used as loads.

[0051] The simulation model collects the parameters of the solar array, charge and discharge simulator and power amplifier in real time, and outputs the voltage, current, pulse and switching information to the real-time simulator of the energy semi-physical system. The model in the real-time simulator controls the power output of the semi-physical power supply controller and the power amplifier output according to the feedback signal, forming a closed-loop control.

[0052] Specifically, the attitude control dynamics and control semi-physical system includes: a track simulation model, an attitude sensor model, an environmental torque simulation model, an attitude execution and control simulation model and a physical object.

[0053] Among them, the attitude control dynamics and control semi-physical system provides model simulation parameters for orbit control adjustment through spacecraft orbit control and attitude dynamics with a coupled control simulation model, and combines the attitude sensor model and environmental torque simulation model parameters to output to the control attitude execution and control simulation model for switch control or closed-loop control, thereby realizing conventional attitude control of the spacecraft and attitude emergency solar operations.

[0054] Specifically, the cyber-physical system includes: a hardware platform architecture compatible with different operating systems, operating system software, and on-board integrated electronic software.

[0055] Among them, the hardware platform architecture provides the interfaces and environment required by the information semi-physical system for the operating system software and on-board integrated electronic software, and realizes cross-platform function management and interface information interaction through software configuration. The on-board integrated electronic software runs on the underlying operating system; the underlying operating system, that is, the operating system realizes the interaction with the specific platform architecture hardware.

[0056] The modeling and simulation management platform includes: a multi-physics model conversion module, a multi-physics field configuration model management module, a joint simulation scheduling module, and a joint fault injection module, which supports user-defined fault mode settings such as spacecraft power failure restart, attitude emergency reassignment, and information flow communication anomalies.

[0057] Among them, the multi-physics model conversion module realizes multi-physics field joint modeling, the multi-physics model modeling conversion module realizes semi-physical model conversion, the configuration model management module, that is, the multi-physics field configuration model management module realizes data interface access to the simulation environment, configures the virtual and real signal mapping relationship, time and simulation step and configuration management, and after integration, the joint fault injection module realizes joint simulation and fault simulation simulation.

[0058] Specifically, the multi-physics model conversion module converts the in-loop model through netlist mapping for semi-physical scenarios with high real-time requirements and dynamic updates, and realizes joint solution through the FMI standard interface for semi-physical scenarios with low real-time requirements and stable functions.

[0059] The minimum safe physical system of the spacecraft integrates the key hardware required for the spacecraft to maintain basic operations, including: power supply and distribution unit, integrated electronics unit, attitude sensing measurement and execution unit, and measurement and control unit.

[0060] Among them, the power supply and distribution unit is an equipment for stable energy supply, generation, storage, distribution, control and management of spacecraft; the integrated electronic unit is used to collect spacecraft telemetry data, receive instructions, control attitude control attitude sensor measurement and execution motors and electric propulsion components, and realize the functions of attitude control solar orientation, load reduction after power outage and hot and cold restart, and measurement and control link recovery; the attitude sensor measurement and execution unit is used to complete the measurement and determination of the spacecraft attitude angle and angular velocity, and complete the three-axis attitude stability control with the cooperation of the execution unit; the measurement and control unit is used for spacecraft remote control reception and telemetry downlink; and finally realize the minimum safe physical system of the spacecraft.

[0061] Specifically, the power supply and distribution unit constitutes the energy flow system, the posture sensing measurement and execution unit constitutes the control flow system, and the integrated electronic unit and the measurement and control unit constitute the information flow system.

[0062] Specifically, the integrated electronic stand-alone machine uses FPGA to complete the universal configuration of cross-model resources such as external registers, realize a unified external device interface, shield the impact of hardware differences between different integrated electronic processors on external interface devices, and update the software running in the integrated electronic stand-alone machine online as needed.

[0063] The virtual-real data interaction interface realizes multi-physics model data interaction through a unified virtual data bus and a unified physical data bus, and realizes data interaction between the model and the real object through a unified optical fiber.

[0064] Currently, there are no unified standards and requirements for the interaction of virtual and real data between spacecraft. Based on mission needs, requirements such as interface definition, interface function, interface data field, input and output parameters, and interaction process of virtual and real data are specified. For the unified physical data bus generated by the physical object, data in different formats such as 1553B bus, RS422, CAN bus, analog quantity, OC quantity, LVDS data, etc. are converted and uniformly transmitted to the data memory pool.

[0065] The unified virtual data bus converts data in various formats such as 1553B bus, RS422, CAN bus, analog quantity, OC quantity, LVDS data, etc. and uniformly transmits data in the memory pool, realizing virtual and real interaction between data and virtual data and synchronization of parameter data in the memory data pool.

[0066] Specifically, the unified physical data bus converts and uniformly transmits data in different formats such as 1553B bus, RS422, CAN bus, analog quantity, OC quantity, LVDS data, etc., and realizes the connection of energy flow, control flow, and information flow through the optical fiber bus.

[0067] Specifically, the unified virtual data bus converts and uniformly transmits data in various formats such as 1553B bus, RS422, CAN bus, analog quantity, OC quantity, LVDS data, etc., hides the details of the underlying model, and realizes the connection of energy flow, control flow, and information flow model data.

[0068] The integrated simulation display control terminal is compatible with both real data and virtual data data sources, and has the ability to display on-orbit telemetry data and ground simulation data.

[0069] According to the present invention, a multi-physics field semi-physical joint simulation system and method based on a spacecraft minimum safety system are provided, comprising:

[0070] Step S1: Multi-physics joint modeling is implemented by the multi-physics model conversion module in the modeling and simulation management platform. A unified modeling language is used to build a multi-physics model and define the interaction rules of energy flow, control flow, and information flow.

[0071] Step S2: Semi-physical model conversion is implemented by the multi-physics model conversion module in the modeling and simulation management platform. According to the simulation time step, the minimum simulation time step threshold is determined. If it is less than the threshold, for example, 10us, the result is yes, then it is implemented on the FPGA; if the result is no, then it is run on the CPU, where the simulation threshold can be modified and adjusted. The multi-physics field model is converted into models that can be simulated and run on the CPU and FPGA respectively. Among them, the models with relatively high real-time performance are implemented and run on the FPGA, and the rest are run on the CPU.

[0072] Step S3: Hardware semi-physical-in-the-loop integration is achieved by configuring the model management module in the modeling and simulation management platform. The physical system is connected to the simulation environment through the data interface, and the virtual-real signal mapping relationship is configured, such as the startup time and simulation step size.

[0073] Step S4: Joint simulation and fault simulation are implemented by the joint simulation scheduling module and the joint fault injection module in the modeling and simulation management platform. The required fault mode is triggered through the modeling and simulation management platform. The simulation model's results generate abnormal physical signals through a digital-to-analog converter, such as a sudden drop in the output current of a simulated solar array. These signals are then output to the actual minimum safety system. The controller receives the feedback signal, processes it, and then sends the control signal to the simulator through the analog-to-digital converter.

[0074] Step S5: Real-time verification and effect evaluation, monitoring the response of the minimum physical system in fault scenarios, such as the restart logic and strategy of the minimum system after power failure, and evaluating the robustness of the system.

[0075] The simulation method of the system includes unified modeling, virtual-real integration, layered architecture, and decoupling of soft and hard models and physical objects. It has the functions of full-state power-in-the-loop, control-in-the-loop, and information-in-the-loop fault simulation, fault injection, real-time verification, and effect evaluation.

[0076] In embodiment 1, the present invention provides a multi-physics field semi-physical joint simulation system and method based on a minimum safety system for spacecraft, comprising: a multi-physics field simulation system, a modeling and simulation management platform, a minimum safety physical system for spacecraft, a virtual-real data interaction interface, and an integrated simulation display and control terminal;

[0077] In this embodiment, based on the multi-physics field joint semi-physical simulation system and method of the spacecraft minimum safety system, the spacecraft on-orbit power-off restart and attitude emergency rescue verification are realized.

[0078] The multi-physics field simulation system uses a unified modeling language to build a multi-physics field joint semi-physical simulation system.

[0079] Preferably, the multi-physics field simulation system includes: an energy semi-physical system, an attitude control dynamics and control semi-physical system, and an information semi-physical system. Each digital simulation part is constructed based on the unified modeling language Modelica, supports dynamic coupling and parameterized adjustment, and can also use a unified modeling language.

[0080] In this embodiment, the construction of the minimum safety system of the spacecraft is quickly completed based on the unified modeling language Modelica, and the instantiation and initialization data setting of the energy semi-physical system, attitude control dynamics and control semi-physical system, and information semi-physical system are completed, and the software and hardware conditions for carrying out semi-physical verification are met. Among them, Modelica is an open, object-oriented, equation-based computer language that can cross different fields and easily realize the modeling of complex physical systems, including: mechanical, electronic, electrical, hydraulic, thermal, control and process-oriented system models.

[0081] The modeling and simulation management platform includes: a multi-physics model conversion module, a multi-physics field model configuration management module, a joint simulation scheduling module, and a joint fault injection module, which supports user-defined fault mode settings such as spacecraft power failure restart, attitude emergency reassignment, and information flow communication anomalies.

[0082] In this embodiment, the unified modeling and simulation management platform mainly involves a multi-physics model conversion module, a multi-physics field model management module, and a joint simulation scheduling module.

[0083] Specifically, the multi-physics model conversion module converts the in-loop model through netlist mapping for semi-physical scenarios with high real-time requirements and dynamic updates, and realizes joint solution through the FMI standard interface for semi-physical scenarios with low real-time requirements and stable functions.

[0084] In this example, to improve computational efficiency and enable precise problem analysis, the energy flow Modelica model is automatically packaged as a Simulink model. The HDL code conversion module automatically generates HDL source code and a BIT file from the Simulink model. The attitude control Modelica model, which requires less real-time performance, is co-simulated with heterogeneous models from multiple sources, including Modelica, Simulink, and C / C++, using the FMI standard interface. Control parameters are then optimized and modified based on the debugging results using the co-simulation scheduling module.

[0085] The minimum safe physical system of the spacecraft integrates the key hardware required for the spacecraft to maintain basic operations, including: power supply and distribution unit, integrated electronics unit, attitude sensing measurement and execution unit, and measurement and control unit.

[0086] In this embodiment, the integrated electronic stand-alone machine uses FPGA to complete the universal configuration of external registers and other resources, realize a unified external device interface, shield the impact of hardware differences between different integrated electronic processors on external interface devices, and update the software running in the integrated electronic stand-alone machine online as needed.

[0087] The virtual-real data interaction interface realizes multi-physics model data interaction through a unified virtual data bus and a unified physical data bus, and realizes data interaction between the model and the real object through a unified optical fiber.

[0088] Specifically, the unified physical data bus converts and uniformly transmits data in different formats such as 1553B bus, RS422, CAN bus, analog quantity, OC quantity, LVDS data, etc., and realizes the connection of energy flow, control flow, and information flow through the optical fiber bus.

[0089] Specifically, the unified virtual data bus converts and uniformly transmits data in different formats such as 1553B bus, RS422, CAN bus, analog quantity, OC quantity, LVDS data, etc., hides the details of the underlying model, and realizes the connection of energy flow, control flow, and information flow model data.

[0090] In this embodiment, a unified virtual data bus completes the spacecraft internal business interaction stage: completing the spacecraft internal 1553B bus, RS422, CAN bus, analog quantity, OC quantity, LVDS data and other business data interactions.

[0091] Specifically, the unified virtual data bus is divided into effective data layer simulation, application layer simulation layer and link layer simulation. The effective data layer simulation, i.e. telemetry package / custom protocol, ignores the hardware characteristics of the business data itself and only retains the business data of this interface type. The application layer simulation layer transmits the transport layer protocol package consistent with that on board. The link layer simulation transmits the frame format consistent with that on board.

[0092] Specifically, the unified physical data bus 1553B bus, RS422, CAN bus, analog quantity, OC quantity, LVDS and other data can be uniformly converted into optical fiber bus data through the interface adapter module, and the energy flow, control flow and information flow can be connected through the optical fiber bus.

[0093] The integrated simulation display control terminal is compatible with both real data and virtual data data sources, and has the ability to display on-orbit telemetry data and ground simulation data.

[0094] In this embodiment, the terminal provides display control for model simulation, semi-physical simulation, and physical data. Semi-physical data is packaged and displayed as physical spacecraft data, while model simulation data is packaged and displayed uniformly on the integrated display control terminal. Control instructions and results from other scalable ground-based acquisition and control equipment are also displayed and controlled within the integrated display control terminal module.

[0095] According to the present invention, a multi-physics semi-physical joint simulation system and method based on a minimum safety system of a spacecraft is provided, comprising:

[0096] Step S1: Multi-physics joint modeling. Use a unified modeling language to build a multi-physics model and define the interaction rules of energy flow, control flow, and information flow.

[0097] In this embodiment, the multi-domain components in the Modelica Standard Library (MSL) are used to construct a multi-physics energy-in-the-loop model, an attitude control dynamics and control model, and a unified information flow model.

[0098] Step S2: Adaptive conversion of the semi-physical simulation model. According to the simulation time step, the multi-physics field model is converted into models that can be simulated and run on the CPU and FPGA. The models with higher real-time performance are implemented on the FPGA, and the rest are run on the CPU.

[0099] In this embodiment, for energy flow simulation, since the step size required for simulation in the CPU is too large to meet the simulation requirements of high switching frequency, this part of the model is usually run in the FPGA.

[0100] Step S3: Hardware semi-physical-in-the-loop integration: Connect the minimum system to the simulation environment through the data interface and configure the virtual-real signal mapping relationship, such as the startup time and simulation step size.

[0101] In this embodiment, in order to effectively simulate the entire spacecraft, a minimum system is selected to meet the requirements of the spacecraft's on-orbit power-off restart and attitude emergency rescue verification against the sun, and through the hardware semi-physical in-loop, the integration of simulation models and real objects is realized to achieve the purpose of using virtual to lead real and using experiments to achieve virtual.

[0102] Step S4: Combined simulation and fault simulation. The required fault mode is triggered through the modeling and simulation management platform. The simulation model's results generate abnormal physical signals through a digital-to-analog converter, such as a sudden drop in the output current of a simulated solar array. These signals are then output to the actual minimum safety system. The controller receives the feedback signal, processes it, and then sends the control signal to the simulator through the analog-to-digital converter.

[0103] In other words, the physical system is connected to the simulation environment through the data interface, and the failure mode required for the target task is triggered through the modeling and simulation management platform to obtain the simulation results; based on the simulation results, an abnormal physical signal is generated; the abnormal physical signal is output to the spacecraft minimum safety physical system; after the controller of the spacecraft minimum safety physical system obtains the feedback signal, it generates and sends the control signal to the simulation machine of the modeling and simulation management platform.

[0104] In this embodiment, the spacecraft orbit simulation data is obtained by control flow simulation, and the on-orbit illumination angle and illumination / shadow simulation data of the solar panel are sent to the energy flow model through the virtual data bus to evaluate the energy flow power generation capacity, and the result is fed back to the information flow simulation model to determine whether an on-orbit energy crisis of the spacecraft is triggered and whether power is cut off and restarted; after the simulation is completed, the semi-physical verification is started, and the on-orbit illumination angle and illumination / shadow simulation data of the solar panel are converted into physical signals through a digital-to-analog converter to simulate an abnormal solar cell array output current drop, and the signals are sent to the power supply and distribution unit and the power amplifier load of the minimum system through the physical bus. The power supply and distribution unit performs spacecraft power-off and restart, attitude emergency facing the sun, and semi-physical joint simulation and fault simulation of information flow communication abnormalities according to the load situation.

[0105] Step S5: Real-time verification and effect evaluation. Monitor the response of the minimum physical system in fault scenarios, such as the restart logic and strategy of the minimum system after a power outage, to evaluate the system robustness.

[0106] Those skilled in the art will appreciate that, in addition to implementing the system and its various devices, modules, and units provided by the present invention in purely computer-readable program code, it is entirely possible to implement the same functions of the system and its various devices, modules, and units provided by the present invention in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, the system and its various devices, modules, and units provided by the present invention can be considered a hardware component, and the devices, modules, and units included therein for implementing various functions can also be considered as structures within the hardware component; the devices, modules, and units for implementing various functions can also be considered as both software modules implementing the method and structures within the hardware component.

[0107] The above describes specific embodiments of the present invention. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. The embodiments of this application and the features in the embodiments may be combined with each other in any manner unless there is a conflict.

Claims

1. A multi-physics field semi-physical joint simulation system, characterized in that: include: Multi-physics simulation system, modeling and simulation management platform, and spacecraft minimum safety physical system; The multi-physics simulation system is connected to the modeling and simulation management platform and the spacecraft minimum safety physical system through a data bus.

2. The multi-physics semi-physical joint simulation system according to claim 1, characterized in that: The multi-physics field simulation system includes: an energy semi-physical system, an attitude control dynamics and control semi-physical system, and an information semi-physical system; The energy semi-physical system, attitude control dynamics and control semi-physical system and information semi-physical system are constructed based on a unified modeling language; The attitude control dynamics and control semi-physical system is connected to the energy semi-physical system and the information semi-physical system via a data bus.

3. The multi-physics semi-physical joint simulation system according to claim 2, characterized in that: The energy semi-physical system includes: a charge and discharge simulator, a solar simulation array, a semi-physical power supply controller and a power amplifier; the multi-physical field simulation system can collect parameters of the charge and discharge simulator, the solar simulation array and the power amplifier, and control the power output of the semi-physical power supply controller and the output of the power amplifier through the feedback signal obtained by simulation.

4. The multi-physics semi-physical joint simulation system according to claim 2, characterized in that: The attitude control dynamics and control semi-physical system includes: a track simulation model, an attitude sensor model, an environmental torque simulation model, and an attitude execution and control simulation model; The attitude control dynamics and control semi-physical system obtains corresponding simulation parameters based on the orbit simulation model, and then combines the parameter outputs of the attitude sensor model and the environmental torque simulation model to form and obtain the input of the attitude execution and control simulation model, thereby realizing closed-loop control.

5. The multi-physics semi-physical joint simulation system according to claim 2, characterized in that: The cyber-physical system includes: hardware platform architecture, operating system, and on-board integrated electronic software; The hardware platform architecture can provide the interfaces and environment required by the operating system and the on-board integrated electronic software. The on-board integrated electronic software can run on the operating system and realize interactive functions through the operating system and the hardware platform architecture.

6. The multi-physics semi-physical joint simulation system according to claim 1, characterized in that: The modeling and simulation management platform includes: a multi-physics model conversion module, a multi-physics field configuration model management module, and a joint fault injection module; The multi-physics model conversion module can jointly model multi-physics fields; the multi-physics model modeling conversion module can convert semi-physical models, and then realize joint simulation and fault simulation through the joint fault injection module.

7. The multi-physics semi-physical joint simulation system according to claim 1, characterized in that: The minimum safe physical system of a spacecraft includes: a power supply and distribution unit, an integrated electronics unit, an attitude sensing measurement and execution unit, and a measurement and control unit; The power supply and distribution unit can supply, store and manage the energy of the spacecraft; the integrated electronic unit can collect spacecraft instructions and execute the electric propulsion components of the spacecraft; the attitude sensing measurement and execution unit can measure the attitude angle and angular velocity of the spacecraft; the measurement and control unit can perform remote control reception and telemetry downlink.

8. The multi-physics semi-physical joint simulation system according to claim 6, characterized in that: The multi-physics model conversion module converts the multi-physics field model into models that can be simulated and run on the CPU and FPGA according to the simulation time step, including: Determine whether the simulation time step is less than 10us. If yes, run the simulation on FPGA; if no, run the simulation on CPU.

9. The multi-physics semi-physical joint simulation system according to claim 1, characterized in that: The data bus includes: a unified virtual data bus and a unified physical data bus; The unified virtual data bus can convert 1553B bus, RS422, CAN bus, analog quantity, OC quantity, LVDS data and uniformly transmit data into a memory pool; The unified physical data bus can convert 1553B bus, RS422, CAN bus, analog quantity, OC quantity, and LVDS data and transmit them uniformly to the data memory pool through the optical fiber bus, thereby realizing virtual-real interaction between data and virtual data and synchronization of parameter data in the memory pool.

10. A multi-physics semi-physical joint simulation method, implemented based on the multi-physics semi-physical joint simulation system according to any one of claims 1 to 9, characterized in that: include: Based on the multi-physics simulation system, a unified modeling language is used to build a multi-physics model. According to the simulation time step, the multi-physics model is converted into a model that can be simulated and run on the CPU and FPGA respectively. Connecting the physical system to the simulation environment through a data interface, triggering the failure mode required by the target task through the modeling and simulation management platform, and obtaining simulation results; generating abnormal physical signals based on the simulation results; Output abnormal physical signals to the spacecraft's minimum safety physical system; After receiving the feedback signal, the controller of the spacecraft minimum safety physical system generates and sends the control signal to the simulation machine of the modeling and simulation management platform.

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