Semi-physical simulation system and method for ground separation control of electromagnetic launch rocket
By combining real and simulation modules into a hardware-in-the-loop simulation system, the ground separation process of an electromagnetic launch rocket is simulated, solving the simulation problem of separation control for electromagnetic launch rockets and achieving efficient R&D cycle and low-cost design verification.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- BEIJING INST OF SPECIALIZED MACHINERY
- Filing Date
- 2025-12-04
- Publication Date
- 2026-04-14
AI Technical Summary
Existing electromagnetic launch rockets lack effective simulation methods for the separation and control process between the launch vehicle and the launch vehicle, resulting in long development cycles and high costs.
A hardware-in-the-loop simulation system combining real and simulation modules is used to simulate the ground booster separation process of an electromagnetic launch rocket through a closed-loop process involving a launch control module, an electromagnetic propulsion simulation module, a booster simulation module, and a communication module, thereby verifying the effectiveness of the separation control strategy.
It shortened the R&D cycle, reduced iteration costs, identified design flaws in advance, and improved design and development efficiency.
Smart Images
Figure CN121857368A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of rocket separation simulation technology, and more specifically, to a hardware-in-the-loop simulation system and method for ground separation control of electromagnetic launch rockets. Background Technology
[0002] Electromagnetic launch rockets are space launch systems that utilize electromagnetic force instead of traditional chemical combustion as initial acceleration power. Their core idea is to accelerate a rocket or spacecraft to extremely high speeds (such as Mach 2-3) in a very short distance and time, followed by the sequential ignition of each stage of the launch vehicle according to the flight program, ultimately sending the payload into low Earth orbit. Based on the mechanism of converting electrical energy into instantaneous kinetic energy in a short time, electromagnetic launch rockets are characterized by low cost, high frequency, high efficiency, and reusability. Hardware-in-the-loop (HIL) simulation is a simulation technology that uses software to simulate physical entities, replicating real systems and related equipment. It allows for the introduction of a highly reliable real-time software and hardware environment in the early stages of project development, improving design and development efficiency. HIL simulation technology can be used to simulate the launch process of electromagnetic launch rockets.
[0003] Electromagnetic launch rockets primarily consist of a superconducting launch vehicle and a launch vehicle. The launch vehicle and rocket assembly needs to accelerate to a target velocity, such as Mach 1.5, during ground boosters, and then safely separate during the inertia period. The entire process requires the launch control system to safely execute the appropriate separation strategies and control commands within a very short time, based on the launch vehicle and rocket assembly's position and velocity information, fault information, etc. This operational scenario is not encountered in traditional launch vehicle launches. Summary of the Invention
[0004] To address existing technical problems, this invention innovatively provides a hardware-in-the-loop simulation system and method for ground separation control of electromagnetic launch rockets. By combining a real control module and a simulation module, it simulates the separation control scenario between the launch vehicle and the launch rocket during ground boosting of an electromagnetic launch rocket. This allows for verification of the effectiveness of the separation control strategy, early detection of design flaws, and thus shortening the development cycle.
[0005] To achieve the aforementioned technical objectives, this invention discloses a hardware-in-the-loop simulation system for ground separation control of an electromagnetic launch rocket, comprising a launch control module, an electromagnetic propulsion simulation module, a booster simulation module, and a communication module. The electromagnetic propulsion simulation module and the booster simulation module are connected to the launch control module via the communication module. The launch control module uses real equipment and is used to issue control commands to the electromagnetic propulsion simulation module and the booster simulation module through the communication module. The electromagnetic propulsion simulation module and the booster simulation module generate feedback data based on the control commands. The launch control module receives the feedback data generated by the electromagnetic propulsion simulation module and the booster simulation module through the communication module, forming a closed loop in the simulation test process.
[0006] Furthermore, this invention provides a hardware-in-the-loop simulation system for ground separation control of an electromagnetic launch rocket. The launch control module includes a host computer, a ground launch control unit, and a mobile launch control unit. The host computer sends power-on commands, trajectory parameter setting commands, and launch commands to the ground launch control unit. The ground launch control unit forwards the power-on commands to the mobile launch control unit, forwards the trajectory parameter setting commands and launch commands to the electromagnetic propulsion simulation module, and sends separation commands to the mobile launch control unit. The mobile launch control unit forwards the power-on commands and separation commands to the booster simulation module.
[0007] Furthermore, this invention provides a hardware-in-the-loop simulation system for ground separation control of an electromagnetic launch rocket. The booster simulation module includes a mobile power supply simulation module, a separation device simulation module, a magnet monitoring box simulation module, and a booster monitoring box simulation module. The mobile power supply simulation module stores its initial power information. Upon receiving a power-on command, it generates and outputs power status information and power control timeout information, and feeds these information back to the host computer via a communication module. The separation device simulation module, magnet monitoring box simulation module, and booster monitoring box simulation module generate and output separation control lockout status information and separation control timeout information upon receiving a separation command, and feed these information back to the host computer via a communication module.
[0008] Furthermore, this invention provides a hardware-in-the-loop simulation system for ground separation control of an electromagnetic launch rocket. The electromagnetic propulsion simulation module includes a kinematics simulation module, an electromagnetic propulsion control simulation module, and a positioning and velocity measurement simulation module. The kinematics simulation module and the positioning and velocity measurement simulation module generate and output initial velocity and initial position information after receiving a trajectory parameter setting command, and feed this information back to the host computer. The electromagnetic propulsion control simulation module and the positioning and velocity measurement simulation module generate and output real-time current, real-time velocity, and real-time position information of the electromagnetic propulsion system after receiving a launch command, and feed this information back to the host computer.
[0009] Furthermore, the present invention provides a hardware-in-the-loop simulation system for ground separation control of an electromagnetic launch rocket, wherein the communication module includes an Ethernet module, a CAN bus module, and a simulation network switch.
[0010] This invention also provides a hardware-in-the-loop simulation method for ground separation control of electromagnetic launch rockets, employing the system described in any of the above embodiments, the method comprising:
[0011] The launch control module sends control commands to the electromagnetic propulsion simulation module and the booster simulation module.
[0012] Feedback data is generated by the electromagnetic propulsion simulation module and the booster simulation module according to the control commands;
[0013] Feedback data generated by the electromagnetic propulsion simulation module and the booster simulation module is fed back to the launch control module.
[0014] Furthermore, this invention provides a hardware-in-the-loop simulation method for ground separation control of an electromagnetic launch rocket, wherein the control command is a power-on command, and the simulation execution flow of the power-on command is as follows:
[0015] The launch control module sends the power-on command to the booster simulation module according to the command sequence issued by the host computer, the ground launch control unit, and the mobile launch control unit.
[0016] The booster simulation module generates and outputs power status information and power control timeout status information based on the received power start command and the initial state information of its internal mobile power simulation module.
[0017] The power status information and power control timeout status information are returned to the host computer of the transmission control module through the communication module.
[0018] Furthermore, this invention provides a hardware-in-the-loop simulation method for ground separation control of an electromagnetic launch rocket, wherein the control command is a trajectory parameter setting command, and the simulation execution flow of the trajectory parameter setting command is as follows:
[0019] The launch control module sends the trajectory parameter setting instructions to the electromagnetic propulsion simulation module according to the instruction sequence issued by the host computer and the ground launch control unit.
[0020] The electromagnetic propulsion simulation module generates and outputs initial velocity and initial position information based on the received trajectory parameter setting instructions, as well as the internal kinematics simulation module and the positioning and velocity measurement simulation module.
[0021] The initial velocity and initial position information are returned to the host computer of the launch control module via the communication module.
[0022] Furthermore, this invention provides a hardware-in-the-loop simulation method for ground separation control of an electromagnetic launch rocket, wherein the control command is a launch command, and the simulation execution flow of the launch command is as follows:
[0023] The launch control module sends the launch command to the electromagnetic propulsion simulation module according to the instruction sequence issued by the host computer and the ground launch control unit.
[0024] The electromagnetic propulsion simulation module generates and outputs real-time current, real-time speed, and real-time position information based on the received trajectory parameter setting instructions and the internal electromagnetic propulsion control simulation module and positioning and velocity measurement simulation module.
[0025] The real-time current, real-time speed, and real-time position information are returned to the host computer of the launch control module and the booster simulation module via the communication module.
[0026] Furthermore, this invention provides a hardware-in-the-loop simulation method for ground separation control of an electromagnetic launch rocket, wherein the control command is a separation command, and the simulation execution flow of the separation command is as follows:
[0027] The launch control module sends the separation command to the booster simulation module according to the command sequence issued by the ground launch control unit and the mobile launch control unit.
[0028] Based on the received separation command and the internal magnet monitoring box simulation module and the booster monitoring box simulation module, the booster simulation module generates and outputs separation control lock-up status information and separation control timeout information.
[0029] The separation control lockout status information and separation control timeout information are returned to the host computer of the launch control module through the communication module.
[0030] The difference between this invention and existing technologies lies in the fact that this invention adopts a semi-physical simulation method that combines real modules and simulation modules. It utilizes real launch control modules to restore actual operating characteristics, and uses electromagnetic propulsion and booster simulation modules to recreate the scenario of electromagnetic launch rocket separation on the ground with low cost and low risk. Through a closed-loop process from control command issuance to feedback reception, it fully simulates the entire process interaction during actual launch separation. This not only verifies the effectiveness of the control strategy and the timing matching of the link, but also identifies design problems in advance. After discovering problems, there is no need to wait for the debugging of real equipment and the launch preparation cycle, which significantly shortens the R&D cycle and reduces iteration costs. Attached Figure Description
[0031] Figure 1 This is a schematic diagram of a hardware-in-the-loop simulation system for ground separation control of an electromagnetic launch rocket according to the present invention.
[0032] Figure 2 This is a timing control schematic diagram of a hardware-in-the-loop simulation method for ground separation control of an electromagnetic launch rocket according to the present invention. Detailed Implementation
[0033] The following is a detailed explanation and description of a hardware-in-the-loop simulation system for ground separation control of an electromagnetic launch rocket according to the present invention, with reference to the accompanying drawings.
[0034] like Figure 1 As shown in the figure, this invention discloses a hardware-in-the-loop simulation system for ground separation control of an electromagnetic launch rocket, including a launch control module, an electromagnetic propulsion simulation module, a booster simulation module, and a communication module. The electromagnetic propulsion simulation module and the booster simulation module are connected to the launch control module through the communication module. The launch control module uses real equipment and is used to issue control commands to the electromagnetic propulsion simulation module and the booster simulation module through the communication module. The electromagnetic propulsion simulation module and the booster simulation module generate feedback data according to the control commands. The launch control module receives the feedback data generated by the electromagnetic propulsion simulation module and the booster simulation module through the communication module, forming a closed loop of the simulation test process.
[0035] The launch control module uses real equipment from the electromagnetic launch rocket control subsystem. The electromagnetic propulsion simulation module and booster simulation module are custom-designed, utilizing ZYNQ7020 boards and the VxWorks 7.0 real-time operating system, along with additional switches, relays, custom chassis, and connectors, forming a scalable simulation test platform to simulate the characteristics of the actual electromagnetic propulsion system and booster. It can respond to received control commands and generate corresponding response data (i.e., feedback data). The communication module provides appropriate communication methods to build links based on the interface types between modules. The launch control module issues control commands, the electromagnetic propulsion simulation module and booster simulation module respond to these commands, generate feedback data, and then send the feedback data back to the launch control module, forming a closed loop in the simulation test.
[0036] Specifically, the launch control module includes a host computer, a ground launch control unit, and a mobile launch control unit, among which:
[0037] The host computer is used to send power-on commands, trajectory parameter setting commands, and launch commands to the ground control unit.
[0038] The ground launch control unit is used to forward the power-on command to the mobile launch control unit, forward the trajectory parameter setting command and launch command to the electromagnetic propulsion simulation module, and issue the separation command to the mobile launch control unit.
[0039] The mobile launch control unit is used to forward start-up power commands and separation commands to the booster simulation module.
[0040] Data transmission between the ground control unit and the mobile control unit is conducted wirelessly.
[0041] Using real equipment in the host computer, ground control unit, and mobile control unit allows for verification of communication performance indicators such as latency and packet loss rate.
[0042] The booster simulation module includes a mobile power supply simulation module, a separation device simulation module, a magnet monitoring box simulation module, and a booster monitoring box simulation module, among which:
[0043] The mobile power bank simulation module stores its initial power information. After receiving the power-on command, it generates and outputs power status information and power control timeout information, and feeds the power status information and power control timeout information back to the host computer through the communication module.
[0044] The separation device simulation module simulates the key actions during the separation process between the launch vehicle and the rocket, the magnet monitoring box simulation module stores the monitoring information of the magnet, and the booster monitoring box simulation module stores the overall operation monitoring information of the booster.
[0045] After receiving the separation command, the separation device simulation module, magnet monitoring box simulation module, and booster monitoring box simulation module generate and output separation control lock-up status information and separation control timeout information, and then feed back the separation control lock-up status information and separation control timeout information to the host computer through the communication module.
[0046] The electromagnetic propulsion simulation module includes a kinematics simulation module, an electromagnetic propulsion control simulation module, and a positioning and velocity measurement simulation module, among which:
[0047] The kinematics simulation module and the positioning and velocity measurement simulation module are used to generate and output initial velocity and initial position information after receiving the trajectory parameter setting instruction, and to feed back the initial velocity and initial position information to the host computer.
[0048] The electromagnetic propulsion control simulation module and the positioning and velocity measurement simulation module are used to generate and output the real-time current, real-time speed and real-time position information of the electromagnetic propulsion system after receiving the launch command, and to feed back the real-time current, real-time speed and real-time position information to the host computer.
[0049] The communication module includes an Ethernet module, a CAN bus module, and a simulated network switch.
[0050] The communication module selects the appropriate Ethernet or CAN communication based on the interface between each module. For example, the host computer and the ground launch control unit use Ethernet communication, and the mobile launch control unit and the booster simulation unit use a combination of Ethernet and CAN bus communication. The simulation network switch is used to reproduce network scenarios of different scales and topologies and to build communication links between the launch control module, the electromagnetic propulsion simulation module and the booster simulation module.
[0051] This embodiment employs a hardware-in-the-loop simulation approach that combines real and simulation modules. It utilizes the real launch control module to recreate actual operational characteristics, while leveraging electromagnetic propulsion and booster simulation modules to recreate the scenario of electromagnetic launch rocket separation on the ground with low cost and low risk. Through a closed-loop process from control command issuance to feedback reception, it fully simulates the entire interaction process during actual launch and separation. This not only verifies the effectiveness of the control strategy and the timing matching of the link, but also identifies design problems in advance. Once a problem is identified, there is no need to wait for the debugging of real equipment and the launch preparation cycle, significantly shortening the R&D cycle and reducing iteration costs.
[0052] like Figure 2 As shown, this embodiment of the invention also provides a hardware-in-the-loop simulation method for ground separation control of electromagnetic launch rockets, employing the aforementioned hardware-in-the-loop simulation system. The method includes:
[0053] The launch control module sends control commands to the electromagnetic propulsion simulation module and the booster simulation module.
[0054] Feedback data is generated by the electromagnetic propulsion simulation module and the booster simulation module according to the control commands;
[0055] Feedback data generated by the electromagnetic propulsion simulation module and the booster simulation module is fed back to the launch control module.
[0056] Specifically, the control commands include power-on commands, trajectory parameter setting commands, launch commands, and separation commands.
[0057] When the launch control module issues a power-on command, the following process is executed:
[0058] The launch control module sends the power-on command to the booster simulation module according to the command sequence issued by the host computer, the ground launch control unit, and the mobile launch control unit.
[0059] The booster simulation module generates and outputs power status information and power control timeout status information based on the received power start command and the initial state information of its internal mobile power simulation module.
[0060] The power status information and power control timeout status information are returned to the host computer of the transmission control module through the communication module.
[0061] When the launch control module issues a trajectory parameter setting command, the following process is executed:
[0062] The launch control module sends the trajectory parameter setting instructions to the electromagnetic propulsion simulation module according to the instruction sequence issued by the host computer and the ground launch control unit.
[0063] The electromagnetic propulsion simulation module generates and outputs initial velocity and initial position information based on the received trajectory parameter setting instructions, as well as the internal kinematics simulation module and the positioning and velocity measurement simulation module.
[0064] The initial velocity and initial position information are returned to the host computer of the launch control module via the communication module.
[0065] When the launch control module issues a launch command, the following process is executed:
[0066] The launch control module sends the launch command to the electromagnetic propulsion simulation module according to the instruction sequence issued by the host computer and the ground launch control unit.
[0067] The electromagnetic propulsion simulation module generates and outputs real-time current, real-time speed, and real-time position information based on the received trajectory parameter setting instructions and the internal electromagnetic propulsion control simulation module and positioning and velocity measurement simulation module.
[0068] The communication module transmits real-time current, real-time speed, and real-time position information back to the host computer of the launch control module and the booster simulation module.
[0069] When the launch control module issues a separation command, the following process is executed:
[0070] The launch control module sends the separation command to the booster simulation module according to the command sequence issued by the ground launch control unit and the mobile launch control unit.
[0071] Based on the received separation command and the internal magnet monitoring box simulation module and the booster monitoring box simulation module, the booster simulation module generates and outputs separation control lock-up status information and separation control timeout information.
[0072] The communication module returns the separation control lockout status information and separation control timeout information to the host computer of the launch control module.
[0073] The method in this embodiment ensures the rigor and orderliness of the launch control process by standardizing the command issuance sequence of the host computer, ground launch control unit, and mobile launch control unit, avoiding command transmission chaos or execution deviations. Relying on the electromagnetic propulsion simulation module and booster simulation module, it generates comprehensive feedback data covering power status, trajectory parameters, real-time operating data, separation control status, and various timeout information, providing multi-dimensional and high-precision decision support for the launch control module. Simultaneously, through closed-loop data transmission throughout the entire process, it achieves real-time monitoring and dynamic adjustment of launch control from command issuance to status feedback, simulating key aspects of the entire launch process without relying on physical entities, significantly reducing hardware costs and safety risks in actual R&D testing. Furthermore, the standardized command classification and execution process improves the operability and repeatability of the hardware-in-the-loop simulation system, facilitating subsequent optimization and iteration of control strategies, and providing a clear traceability path for fault diagnosis and performance verification.
[0074] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.
[0075] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and simple improvements made on the substantive content of the present invention should be included within the protection scope of the present invention.
Claims
1. A hardware-in-the-loop simulation system for ground separation control of an electromagnetic launch rocket, characterized in that: The system includes a launch control module, an electromagnetic propulsion simulation module, a booster simulation module, and a communication module. The electromagnetic propulsion simulation module and the booster simulation module are connected to the launch control module via the communication module. The launch control module uses real equipment and is used to issue control commands to the electromagnetic propulsion simulation module and the booster simulation module through the communication module. The electromagnetic propulsion simulation module and the booster simulation module generate feedback data based on the control commands. The launch control module receives the feedback data generated by the electromagnetic propulsion simulation module and the booster simulation module through the communication module, forming a closed loop of the simulation test process.
2. The hardware-in-the-loop simulation system for ground separation control of an electromagnetic launch rocket according to claim 1, characterized in that: The launch control module includes a host computer, a ground launch control unit, and a mobile launch control unit. The host computer is used to send power-on commands, trajectory parameter setting commands, and launch commands to the ground launch control unit. The ground launch control unit is used to forward power-on commands to the mobile launch control unit, forward trajectory parameter setting commands and launch commands to the electromagnetic propulsion simulation module, and send separation commands to the mobile launch control unit. The mobile launch control unit is used to forward power-on commands and separation commands to the booster simulation module.
3. The hardware-in-the-loop simulation system for ground separation control of an electromagnetic launch rocket according to claim 2, characterized in that: The booster simulation module includes a mobile power supply simulation module, a separation device simulation module, a magnet monitoring box simulation module, and a booster monitoring box simulation module. The mobile power supply simulation module stores its initial power information. After receiving a power-on command, it generates and outputs power status information and power control timeout information, and feeds these information back to the host computer via a communication module. The separation device simulation module, magnet monitoring box simulation module, and booster monitoring box simulation module generate and output separation control lockout status information and separation control timeout information after receiving a separation command, and feed these information back to the host computer via a communication module.
4. The hardware-in-the-loop simulation system for ground separation control of an electromagnetic launch rocket according to claim 3, characterized in that: The electromagnetic propulsion simulation module includes a kinematics simulation module, an electromagnetic propulsion control simulation module, and a positioning and velocity measurement simulation module. The kinematics simulation module and the positioning and velocity measurement simulation module are used to generate and output initial velocity and initial position information after receiving the trajectory parameter setting command, and feed the initial velocity and initial position information back to the host computer. The electromagnetic propulsion control simulation module and the positioning and velocity measurement simulation module are used to generate and output real-time current, real-time velocity, and real-time position information of the electromagnetic propulsion system after receiving the launch command, and feed the real-time current, real-time velocity, and real-time position information back to the host computer.
5. A hardware-in-the-loop simulation system for ground separation control of an electromagnetic launch rocket according to claim 4, characterized in that: The communication module includes an Ethernet module, a CAN bus module, and a simulated network switch.
6. A hardware-in-the-loop simulation method for ground separation control of an electromagnetic launch rocket, employing the system described in any one of claims 1-5, characterized in that: The method includes: The launch control module sends control commands to the electromagnetic propulsion simulation module and the booster simulation module. Feedback data is generated by the electromagnetic propulsion simulation module and the booster simulation module according to the control commands; Feedback data generated by the electromagnetic propulsion simulation module and the booster simulation module is fed back to the launch control module.
7. A hardware-in-the-loop simulation method for ground separation control of an electromagnetic launch rocket according to claim 6, characterized in that: The control command is a power-on command, and the simulation execution flow of the power-on command is as follows: The launch control module sends the power-on command to the booster simulation module according to the command sequence issued by the host computer, the ground launch control unit, and the mobile launch control unit. The booster simulation module generates and outputs power status information and power control timeout status information based on the received power start command and the initial state information of its internal mobile power simulation module. The power status information and power control timeout status information are returned to the host computer of the transmission control module through the communication module.
8. A hardware-in-the-loop simulation method for ground separation control of an electromagnetic launch rocket according to claim 6, characterized in that: The control command is a trajectory parameter loading command, and the simulation execution flow of the trajectory parameter loading command is as follows: The launch control module sends the trajectory parameter setting instructions to the electromagnetic propulsion simulation module according to the instruction sequence issued by the host computer and the ground launch control unit. The electromagnetic propulsion simulation module generates and outputs initial velocity and initial position information based on the received trajectory parameter setting instructions, as well as the internal kinematics simulation module and the positioning and velocity measurement simulation module. The initial velocity and initial position information are returned to the host computer of the launch control module via the communication module.
9. A hardware-in-the-loop simulation method for ground separation control of an electromagnetic launch rocket according to claim 6, characterized in that: The control command is a launch command, and the simulation execution flow of the launch command is as follows: The launch control module sends the launch command to the electromagnetic propulsion simulation module according to the instruction sequence issued by the host computer and the ground launch control unit. The electromagnetic propulsion simulation module generates and outputs real-time current, real-time speed, and real-time position information based on the received trajectory parameter setting instructions and the internal electromagnetic propulsion control simulation module and positioning and velocity measurement simulation module. The real-time current, real-time speed, and real-time position information are returned to the host computer of the launch control module and the booster simulation module via the communication module.
10. A hardware-in-the-loop simulation method for ground separation control of an electromagnetic launch rocket according to claim 6, characterized in that: The control command is a detached command, and the simulation execution flow of the detached command is as follows: The launch control module sends the separation command to the booster simulation module according to the command sequence issued by the ground launch control unit and the mobile launch control unit. Based on the received separation command and the internal magnet monitoring box simulation module and the booster monitoring box simulation module, the booster simulation module generates and outputs separation control lock-up status information and separation control timeout information. The separation control lockout status information and separation control timeout information are returned to the host computer of the launch control module through the communication module.