General semi-physical simulation method, system and equipment for carrier rocket control system

Abstract

The invention relates to a general semi-physical simulation method, a general semi-physical simulation system and general semi-physical simulation equipment for a carrier rocket control system. The general semi-physical simulation system comprises a real-time simulation computer system which is a high-performance industrial computer for operating a real-time operating system. The real-time scheduling module is used for running various models and scheduling in real time to ensure that all the models complete one-time calculation in a fixed and extremely short step length so as to ensure the real-time performance and accuracy of simulation; the test physical system comprises hardware of a real carrier rocket control system to be tested; the interface system is connected with the model and the real object. Comprising a high-performance I / O board card, a bus communication card and a special interface adaptation device. The simulation management and display control system is used for realizing test flow control, model parameter configuration, data storage and display, data management analysis and the like; the method has the value that the method can adapt to control systems of rockets of different models, and has the characteristics of configurability, expandability and reusability, so that the research and development cost is remarkably reduced, and the research and development period is shortened.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of spacecraft control system simulation, in particular to a universal hardware-in-the-loop simulation method, system and device suitable for control systems of multiple types of launch vehicles. BACKGROUND

[0002] The hardware-in-the-loop simulation technology of the control system of a launch vehicle is used to perform high real-time and high-precision closed-loop simulation of a real onboard flight control computer and simulated rocket flight environment (rigid body dynamics, elastic vibration, liquid sloshing), engine (thrust regulation, swing), servo mechanism, sensor (gyroscope, accelerometer) and telemetry system, etc. in a laboratory environment. The core purpose is to fully verify the correctness of the flight control system scheme, the logical accuracy of the software, the coordination of the system and the hardware, and the fault handling capability before flight test, which is an indispensable key link to ensure the success of the launch of the rocket.

[0003] The traditional hardware-in-the-loop simulation device for the control system of a launch vehicle is highly specialized and has poor universality, and is usually customized and developed for a single type of rocket flight control system. When the rocket configuration, control system hardware or task requirements change, the simulation system needs to be significantly modified or even redeveloped, and the cycle of device construction and iteration is long and the cost is high. The system integration is complex and has insufficient scalability, the simulation modules are closely coupled, and it is very difficult to add new models, making it difficult to iterate quickly. The resource configuration is not flexible, and the computing, communication, I / O and other resources in the system are statically allocated and cannot be dynamically adjusted, resulting in low resource utilization.

[0004] Therefore, the present application provides a universal hardware-in-the-loop simulation method, system and device for the control system of a launch vehicle. The scheme can adapt to the control systems of different types of rockets, has the characteristics of configurability, scalability and reusability, thereby significantly reducing the research and development cost and shortening the research and development cycle to improve the efficiency and coverage of the simulation test of the control system of a launch vehicle. SUMMARY

[0005] The present application provides a universal hardware-in-the-loop simulation method, system and device for the control system of a launch vehicle, which is suitable for testing and verification of control systems of different types of rockets. A platform plus plug-in architecture is adopted, the simulation platform provides a basic framework and general services, and only the corresponding models and interface protocols need to be replaced or reconfigured for a specific type of launch vehicle, without changing the underlying framework.

[0006] The present application mainly consists of the following systems: Real-time simulation computer system: Based on a high-performance industrial computer, running VxWorks or RT Linux real-time operating system, used to run various parameterized and modular simulation models (launch vehicle motion model, inertial navigation measurement information model, navigation receiver information model, servo mechanism model, engine thrust model, etc.) and schedule them in real time to ensure that all models complete a calculation within a fixed and extremely short step size (ms level) to ensure the real-time performance and accuracy of the simulation. Test physical system: This refers to the hardware of the actual launch vehicle control system being tested, including the launch vehicle flight control computer, global navigation system simulator, servo mechanism (actual servo system or equivalent load simulator), inertial measurement unit, etc. Interface system: This is the bridge connecting the model and the physical object, and is a key technology of this hardware-in-the-loop simulation equipment. It includes high-performance I / O boards, bus communication cards, and dedicated interface adapters. I / O boards: Installed in the real-time simulation computer, including AD and DA boards (simulating sensor output and acquiring commands); DI and DO boards (simulating acquisition of switching signals, such as ignition, separation, and shutdown); bus communication boards (simulating buses such as 1553B, CAN, ARINC429, and serial ports for data communication with the flight control computer); Dedicated interface adapters: Customized equipment used to perform signal conditioning, isolation, and conversion, protecting the expensive simulation equipment and the physical test object. Simulation Management and Display Control System: Provides a graphical interface for experimental process control, model parameter configuration, data storage and display, data management and analysis, including high-performance workstations, servers, network switches, large-screen display systems, etc.

[0007] Compared to existing simulation systems, this hardware-in-the-loop simulation system for the launch vehicle control system has the following significant advantages: Highly versatile: Utilizing a platform and plug-in architecture, a parameterized and standardized model library is established. When changing models, only model parameters need to be adjusted or submodules replaced, without rewriting the underlying code. A standardized interface adaptation layer allows for rapid adaptation to different flight control computers through configurable interface adapters. This significantly shortens the development cycle, enabling a single platform to serve multiple models.

[0008] Low cost and high efficiency: The initial R&D investment can be spread to all applicable models, reducing the cost of simulation testing for a single model; only one system and device need to be maintained, greatly reducing maintenance complexity, labor costs and inventory costs; software upgrades and function enhancements can benefit all subsequent models.

[0009] Ultimate automation: Users can preset test sequences, and the system will automatically execute them in order, allowing for multi-state simulation tests in a single run.

[0010] Promoting technology accumulation and knowledge management: The general-purpose system equipment is a continuously accumulating and optimized technical knowledge base. Validated high-precision models, standardized interface protocols, and test cases are all accumulated in the general-purpose system, becoming the organization's core assets; lowering the talent threshold, requiring only one training session in the general-purpose system to participate in the work of different models, greatly shortening the training cycle. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the architecture of the general hardware-in-the-loop simulation method, system, and equipment for launch vehicle control systems provided in this embodiment of the invention.

[0012] Figure 2 A flowchart of a hardware-in-the-loop simulation method provided in an embodiment of the present invention. Detailed Implementation

[0013] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments: This invention can be implemented in various forms, and the scope of protection should not be limited to the embodiments listed in the specification. These embodiments are provided to provide a detailed description of the invention and to ensure that those skilled in the art can fully understand its scope.

[0014] like Figure 1 As shown, this invention discloses a general hardware-in-the-loop simulation method, system, and equipment for a launch vehicle control system, including the following subsystems: a real-time simulation computer system, a physical testing system, an interface system, and a simulation management and display control system.

[0015] like Figure 1 As shown, a typical simulation step-size cycle's operating relationship is as follows: Excitation signal generation: Based on the calculation results of the previous cycle, the real-time simulation computer calculates the current measurement value (such as angular velocity) of the rocket's inertial measurement unit (or inertial measurement unit simulator), and sends it to the interface system via the internal bus. The interface system's DA converter converts these digital quantities into analog voltage signals, which are then transmitted to the test physical inertial measurement unit (or inertial measurement unit simulator) through the interface adapter.

[0016] Physical system response: The inertial measurement unit (or inertial measurement unit simulator) receives the physical excitation signal. The control computer reads navigation data from the inertial measurement unit and navigation receiver via the bus, runs the control algorithm, calculates the control commands, and sends them to the servo mechanism via DA conversion or bus.

[0017] Response signal acquisition and feedback: The servo mechanism starts to move, and the yaw angle and other signals it feeds back are collected by the AD converter and converted into digital quantities. The load simulator then returns the signals it senses to the real-time simulation computer.

[0018] Model update and closed loop: The real-time simulation computer takes the received signals as input, substitutes them into the dynamic model, and calculates the motion state of the rocket in the next simulated step under the action of the new torque. At the same time, the simulation computer sends the new position and velocity information to the navigation signal simulator and the new flight environment parameters to the load simulator.

[0019] This completes one closed-loop cycle, and the next one begins. This allows for a realistic reproduction of the rocket's entire flight process in the experiment, achieving a comprehensive and rigorous assessment of the control system.

[0020] like Figure 2 As shown, taking a stability boundary test of the attitude control system of a certain type of launch vehicle as an example, the implementation process of this method is explained: Resource Management: The system administrator can ensure that there are sufficient computing resources and 1553B interface resources available through the resource configuration interface.

[0021] Model configuration: In the UI interface, select 'Rocket Dynamics Model of a Certain Type' from the model library, select the real flight control computer and servo mechanism from the equipment library, connect the 1553B output of the flight control computer to the control command input of the dynamics model, connect the attitude angle output of the dynamics model to the feedback input of the flight control computer, connect the servo mechanism to the model, set the initial parameters and fault injection points.

[0022] System Setup: Click Run, and the simulation management system will parse the configuration file, load the model, and establish real-time communication links for each part.

[0023] Execution and Monitoring: Once the simulation starts, users can observe attitude curves, control commands, etc. in real time on the monitoring interface. During the simulation, some parameters can be adjusted online, the system response can be observed, faults can be injected at predetermined times to check the system's fault tolerance, and all data is stored in real time.

[0024] Data Analysis: After the simulation, users can replay the entire experiment through the data management module to evaluate the stability of the attitude control system.

[0025] The above description is only the best specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the protection scope of the present invention.

[0026] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. A general hardware-in-the-loop simulation method, system, and equipment for a launch vehicle control system, characterized in that: The method comprises the following steps: (1) constructing a general simulation resource management: virtualizing and managing the computing resources, network resources, input / output interface resources and model resources required by the simulation, to form a unified configuration management; (2) performing simulation model configuration: based on a user interface, selecting the required simulation models and real hardware devices from the pre-stored model library and device library, configuring the connection relationship and running parameters thereof, and generating a simulation configuration file; (3) dynamically constructing a simulation system: the simulation management core dynamically allocates and loads the corresponding resources from the general simulation resource management according to the simulation configuration file, instantiates the simulation models, establishes a real-time data interaction link between the models and the real hardware devices, and forms a complete and runnable hardware-in-the-loop simulation system; (4) performing simulation and monitoring: starting the simulation task, and the simulation management core uniformly scheduling the running of each simulation node, and collecting, displaying and storing all data in the simulation process in real time; supporting online adjustment of parameters and fault injection operation in the simulation process; (5) performing simulation data management and analysis: automatically storing all simulation data into a database during the simulation process, and providing data playback analysis after the simulation is completed.

2. The method of claim 1, wherein, In step (1), the model resources are stored in a parameterized and modularized model library, and the model library at least comprises a launch vehicle motion model, an environment model, an inertial measurement unit information model, a navigation receiver information model, a servo mechanism model and an engine thrust model.

3. The method of claim 1, wherein, In step (2), the user interface supports visual definition of the topological relationship and data flow of each component in the simulation system by selecting and modifying the controls.

4. The method of claim 1, wherein, In step (3), the real-time data interaction link is based on high-precision clock synchronization and network construction, and is used for ensuring the time consistency of each node in the simulation system and the real-time performance of data transmission.

5. The method of claim 1, wherein, In step (4), the fault injection operation supports preset conditions or manual triggering during the simulation process, to simulate specific fault modes of the control system hardware or software.

6. A generic semi-physical simulation system for a launch vehicle control system for implementing the method of any one of claims 1 to 5, characterized in that It comprises: (1) a real-time simulation computer system: based on a high-performance industrial computer, running a VxWorks or RT linux real-time operating system, used for running various parameterized and modularized simulation models, i.e., a launch vehicle motion model, an inertial measurement unit information model, a navigation receiver information model, a servo mechanism model and an engine thrust model, and scheduling in real time to ensure that all models complete a calculation in a fixed and extremely short step of ms level, to ensure the real-time performance and accuracy of the simulation; (2) a test physical system: a hardware of a real launch vehicle control system to be tested, comprising a launch vehicle flight control computer, a global navigation system simulator, a servo mechanism real servo system or equivalent load simulator, and an inertial measurement unit; (3) an interface system: a bridge connecting the models and the physical system, and a key technology of the hardware-in-the-loop simulation device; comprising a high-performance I / O board card, a bus communication card and a special interface adaptation device; the I / O board card is installed in the real-time simulation computer, and comprises an AD and DA board card: simulating sensor output and collecting instructions; DI, DO board: analog acquisition switch signal, such as ignition, separation, shutdown; bus communication board: analog 1553B, CAN, ARINC429, serial bus, data communication with flight control computer; special interface adapter: customized equipment for signal conditioning, isolation, conversion, protection of expensive simulation equipment and test hardware; (4) simulation management and display control system: provides a graphical interface for test process control, model parameter configuration, data storage and display, data management and analysis.

7. The system of claim 6, wherein, The system adopts a platform plus plug-in architecture, wherein the simulation management and display control system constitutes a basic platform, and specific models in the real-time simulation computer system and drivers in the interface system exist in the form of configurable plug-ins.

8. The system of claim 6, wherein, The interface system supports physical interfaces including one or more of 1553B, ARINC429, CAN, serial port, analog input / output, and digital input / output.

9. A launch vehicle control system generic hardware-in-the-loop simulation device, comprising: It includes: (1) real-time simulation computer, installed with real-time operating system; (2) interface equipment, integrated with multiple types of I / O board and communication module; (3) display control terminal, running simulation management software, including high-performance workstations, servers, network switches, large-screen display systems; (4) connection cables and adapters for physical connection between systems.

10. The apparatus of claim 9, wherein, The interface equipment supports hot plugging and modular expansion.

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