Semi-physical simulation test platform of vertical take-off and landing single-person aircraft

Abstract

A semi-physical simulation test platform of a vertical take-off and landing single aircraft comprises an aircraft semi-physical set system, ground test equipment and a tool set system. The aircraft semi-physical set system comprises a power part serving as a physical part, a physical sensor, a control mechanism, test equipment, an onboard computer, flight control software loaded and operated on the onboard computer, and a power simulator, a control simulator and a sensor simulator loaded and operated on the onboard computer or a ground computer. The ground test equipment comprises a test controller and simulation dynamics software loaded and operated on a ground computer; the tool set system is used for connecting the platform with an external test device and comprises an onboard tool, a ground tool and a tool connecting piece, the onboard tool is used for fixing the aircraft semi-physical set system, the ground tool is used for fixing ground test equipment, and the tool connecting piece is used for movably and detachably connecting the onboard tool and the ground tool. When the platform is used for testing, the cost can be effectively reduced, and the aircraft iteration period is accelerated.

Description

Technical Field

[0001] This application belongs to the field of manned flight simulation testing technology, and relates to a hardware-in-the-loop simulation testing platform for a vertical take-off and landing single-person aircraft. Background Technology

[0002] Before an aircraft is finalized, it needs to undergo extensive flight tests. Flight tests allow for comprehensive testing and evaluation of key components such as the avionics system, transmission system, and power system, ensuring their stability and reliability in complex environments. They also verify various performance indicators of the aircraft, identify potential technical problems, and provide data support for its optimized design.

[0003] Flight testing requires significant human and material resources, and some tests are destructive, causing substantial damage and wear and tear on the test system and its auxiliary equipment and instruments. Therefore, during the aircraft development process, hardware-in-the-loop (HIL) simulation tests are typically introduced before flight testing. This allows for more rapid iteration and identification of potential technical problems with lower costs, promoting aircraft optimization, ensuring the safety of subsequent flight tests, and improving the effectiveness of flight tests.

[0004] Currently, the development of vertical takeoff and landing (VTOL) aircraft, especially single-person aircraft, has entered the prototype integration stage, but extensive and comprehensive flight testing is still in its infancy. Current physical flight testing suffers from low test coverage, poor safety, and extremely high costs. The urgent task is to establish a matching hardware-in-the-loop (HIL) simulation test platform to integrate mathematical simulation with physical prototypes and move towards actual flight testing. Summary of the Invention

[0005] To address the shortcomings of the aforementioned existing technologies, this application provides a hardware-in-the-loop (HIL) simulation test platform for a vertical take-off and landing (VTOL) single-person aircraft. This platform is used for indoor or outdoor low-altitude HIL simulation testing, enabling rapid and effective verification of the aircraft system, effectively reducing costs and accelerating the iteration cycle.

[0006] To achieve the above objectives, the present invention employs the following techniques: A hardware-in-the-loop simulation test platform for a vertical takeoff and landing single-person aircraft, including a hardware-in-the-loop system for the aircraft and ground test equipment; The semi-physical system of an aircraft includes a power unit, control mechanism, test equipment, onboard computer as physical components, as well as flight control software loaded and running on the onboard computer, and a power simulator, control simulator, and sensor simulator loaded and running on the onboard computer or ground computer. The ground-based testing equipment includes simulation dynamics software that runs on a ground-based computer and is used to simulate the dynamic environment; The simulation dynamics software is used to calculate and generate environmental parameters and motion state parameters based on the received external input test matrix, mission parameters, simulation initial values, motion state signals of the power components after executing the control commands converted by the power simulator, and execution effect parameters of the control mechanism after executing the control commands issued by the flight control software or simulation execution effect parameters of the control simulator after simulating the execution of the control commands issued by the flight control software. These parameters are then sent to the sensor simulator and the power simulator. The sensor simulator is used to simulate the actual sensor measurement data to be installed on the aircraft based on environmental parameters and motion state parameters. Flight control software is used to calculate and generate control commands for the power simulator and control mechanisms or control simulators based on the measurement data simulated by the sensor simulator. The power simulator is used to simulate the response of the power components based on the control commands from the flight control software and the environmental and motion parameters sent by the simulation dynamics software, and to reverse-engineer the control commands for the power components based on the response. The testing equipment is used to collect test data and download it to the simulation dynamics software.

[0007] Furthermore, the power components include ducted fan engines or propeller engines.

[0008] Furthermore, the testing equipment is a test device that moves on the aircraft, including at least one of navigation equipment, pressure and / or stress testing equipment, velocimeter, barometer, and high-speed camera. The navigation equipment includes at least one of satellite navigation device, inertial navigation device, and astronomical navigation device.

[0009] Furthermore, when used for sports testing, the testing equipment should be at least one of the following: a tachometer, a barometer, and a high-speed camera. When used for linear motion tests, the testing equipment shall also include at least one of satellite navigation devices, inertial navigation devices, and astronomical navigation devices. When used for rotational testing, the testing equipment should also include at least one of inertial navigation devices and astronomical navigation devices.

[0010] Furthermore, when used for pneumatic testing, the testing equipment shall be at least one of pressure and / or stress testing equipment and barometer.

[0011] Furthermore, the platform features a first closed-loop simulated flight test process, including: The simulation dynamics software receives external input experimental matrices, task parameters, and simulation initial values ​​as closed-loop initial conditions. The simulation dynamics software sends environmental parameters of the simulated environment and motion state parameters of the simulated motion to the sensor simulator and the dynamic simulator. The sensor simulator simulates the measurement data of the sensors to be installed on the aircraft based on environmental parameters and motion state parameters; The flight control software calculates and generates control commands for the power simulator and control mechanisms or control simulators based on the measurement data simulated by the sensor simulator. The power simulator simulates the response of the power components based on the control commands from the flight control software and the environmental and motion parameters sent by the simulation dynamics software. It then reverse-engineers the control commands for the power components based on the response. The power components execute the control commands to change their motion state and feed back the motion state signals to the simulation dynamics software. The control mechanism executes control commands issued by the flight control software and feeds back the execution effect parameters to the simulation dynamics software; or it controls the simulator to simulate the execution of control commands issued by the flight control software and feeds back the simulation execution effect parameters to the simulation dynamics software. The simulation dynamics software combines the closed-loop initial conditions, motion state signals, and execution effect parameters or simulated execution effect parameters to recalculate the environmental parameters and motion state parameters to be sent.

[0012] Furthermore, the platform also includes a tooling kit for connecting the platform to external testing equipment; The physical components of the semi-physical kit for aircraft also include physical sensors, which are the actual collection of sensors to be installed on the aircraft. The ground testing equipment also includes a test controller, which is used to start the hardware-in-the-loop test platform to conduct tests, and also to send control commands to external test devices; The tooling kit includes on-machine tooling, ground tooling, and tooling connectors; Onboard tooling refers to the tooling components of a semi-physical aircraft kit, used to fix the physical parts of the semi-physical aircraft kit and to reinforce the counterweights. Ground fixtures are fixed to the ground or external testing equipment and are used to fix ground testing equipment. Tooling connectors are used for the movable and detachable connection of on-board tooling and ground tooling, and for the temporary fixing and auxiliary protection of on-board tooling and solid components of aircraft semi-physical kits; Furthermore, the platform also has a second closed-loop simulated flight test process, which can be selected to execute either the first closed-loop simulated flight test process or the second closed-loop simulated flight test process when used. The second closed-loop simulated flight test process includes: The simulation dynamics software receives external input experimental matrices, task parameters, and simulation initial values ​​as closed-loop initial conditions. The simulation dynamics software sends environmental parameters of the simulated environment and motion state parameters of the simulated motion to the test controller, sensor simulator, and dynamic simulator. The test controller calculates and generates control commands based on environmental and motion parameters, and sends them to the external test device so that the external test device can execute the control commands. It also collects measurement data of environmental and motion state changes caused by the execution of control commands by the external test device through physical sensors and sends them to the flight control software. The sensor simulator simulates the measurement data of the actual sensors to be installed on the aircraft based on environmental parameters and motion state parameters, and sends it to the flight control software; the measurement data simulated by the sensor simulator serves as a supplement to the measurement data collected by the physical sensors. The flight control software combines measurement data collected by physical sensors and measurement data simulated by sensor simulators to calculate and generate control commands for the power simulator and control commands for the control mechanism or control simulator. The power simulator simulates the response of the power components based on the control commands from the flight control software and the environmental and motion parameters sent by the simulation dynamics software. It then reverse-engineers the control commands for the power components based on the response. The power components execute the control commands to change their motion state and feed back the motion state signals to the simulation dynamics software. The control mechanism executes control commands issued by the flight control software and feeds back the execution effect parameters to the simulation dynamics software; or it controls the simulator to simulate the execution of control commands issued by the flight control software and feeds back the simulation execution effect parameters to the simulation dynamics software. The simulation dynamics software combines the closed-loop initial conditions, motion state signals, and execution effect parameters or simulated execution effect parameters to recalculate the environmental parameters and motion state parameters to be sent.

[0013] Furthermore, the external test device is a ground test platform test device. When testing the fault process and the deployment of emergency rescue equipment, a high-speed camera and a high tower or platform are selected. When testing the turntable to verify the navigation accuracy and guidance control process, a three-axis turntable is selected. When testing the aerodynamic load and the mechanical properties of the structure, a wind tunnel and a test machine matched with the wind tunnel are selected.

[0014] Furthermore, the simulation dynamics software is also used to adjust the parameters sent to the test controller based on the test data transmitted from the test equipment, so as to calibrate the control commands issued by the test controller.

[0015] The beneficial effects of this invention are as follows: 1. The hardware-in-the-loop simulation platform described in this invention can be used for indoor or outdoor low-altitude testing without the need to apply for airspace. By using the hardware-in-the-loop simulation platform for optimization and testing, costs can be effectively reduced and iteration cycles can be accelerated. 2. The power components of the semi-physical simulation platform described in this invention are ducted fans or propeller engines, which do not involve pyrotechnics or flammable and explosive materials, ensuring safe and reliable operation and high safety and stability during testing, storage, and maintenance. 3. The hardware-in-the-loop simulation platform described in this invention can quickly and effectively verify aircraft systems, including: verifying the correctness of flight control algorithms and system implementation; verifying the capabilities and performance of sensor suites; verifying the correctness of the guidance and control system response and environmental adaptability under different operating conditions, including fault conditions; verifying the accuracy, efficiency, and correctness of the actuators and system implementation; and verifying the correctness of mission profile trajectory schemes, including tilt corridor designs with large tilts. 4. Using the hardware-in-the-loop simulation platform described in this invention to conduct hardware-in-the-loop simulation tests before actual flight tests helps to reduce safety risks during actual flight tests and ensure the safety of personnel and property. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the configuration items for the hardware-in-the-loop simulation test platform of this application to complete hardware-in-the-loop simulation experiments on a ground test platform.

[0017] Figure 2 This is a schematic diagram of the closed-loop data signal flow during the actual flight of the aircraft according to an embodiment of this application.

[0018] Figure 3 This is a schematic diagram of the closed-loop data signal flow in the first closed-loop simulated flight test process of the hardware-in-the-loop simulation test platform according to an embodiment of this application. Figure 4 This is a schematic diagram of the data signal flow closed loop in the second closed-loop simulated flight test process of the hardware-in-the-loop simulation test platform of this application embodiment. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the implementation methods of the present invention will be described in detail below with reference to the accompanying drawings. However, the embodiments described in this invention are only some embodiments of the present invention, and not all embodiments.

[0020] This application provides a hardware-in-the-loop simulation test platform for a vertical takeoff and landing single-person aircraft, such as... Figure 1 As shown, it includes a semi-physical aircraft kit and ground testing equipment.

[0021] The semi-physical aircraft system does not have a fixed physical form. Instead, it selects modules to participate in the test closed loop based on the semi-physical simulation test items. Specifically, it includes physical components such as the power unit, physical sensors, control mechanisms, test equipment, and onboard computer, as well as flight control software loaded and running on the onboard computer, and power simulators, control simulators, and sensor simulators loaded and running on either the onboard computer or a ground computer. Here, the flight control software is independently loaded on a single onboard computer and does not share processors with simulators loaded and running on other onboard computers. Preferably, each simulator software is loaded and running on the onboard computer, and second best, on the ground computer.

[0022] Physical sensors are the collection of all sensors that will actually be installed on the aircraft. The propulsion system includes ducted fan engines or propeller engines, used in conjunction with a power simulator to simulate the aircraft's engines. It can simulate most micro turbojet engines, rotor engines, gas propulsion engines, solid fuel engines, etc. Physical sensors and sensor simulators together constitute the aircraft's sensor suite.

[0023] The testing equipment consists of high-precision, onboard testing devices selected according to the requirements of the hardware-in-the-loop (HIL) simulation testing projects. These include at least one of the following: navigation equipment, pressure and / or stress testing equipment, velocimeter, barometer, and high-speed camera. The navigation equipment includes at least one of satellite navigation, inertial navigation, and celestial navigation systems. Specifically, for motion tests, at least one of a velocimeter, barometer, and high-speed camera is selected; for linear motion tests, at least one of a satellite navigation system, inertial navigation system (primarily accelerometer), and celestial navigation system is also selected; or for rotational tests, at least one of an inertial navigation system and celestial navigation system is selected. For aerodynamic tests, at least one of a pressure and / or stress testing equipment and barometer is selected. Other specialized tests may involve various testing equipment. The test data collected by the testing equipment is transmitted to the ground-based testing equipment via telemetry.

[0024] The ground-based test equipment has no fixed physical form and includes a test controller and simulation software that runs on a ground-based computer to simulate the dynamic environment. The test controller is used to start the hardware-in-the-loop test platform for testing.

[0025] Regarding the actual flight process of the aircraft, such as Figure 2The diagram shows the closed-loop data signal flow during the actual flight of the aircraft. Initial conditions are set, and the dynamic environment changes with the motion. Sensors collect data, and the flight control software analyzes this data to generate commands for the engine and control mechanisms. The engine receives these commands from the flight control software and acts on the dynamic environment under the current environmental and motion conditions. Simultaneously, the control mechanisms receive commands from the flight control software and generate maneuvers, thus affecting the dynamic environment.

[0026] Specifically, the hardware-in-the-loop simulation test platform in this example has the following features: Figure 3 The first closed-loop simulated flight test procedure shown includes: The simulation dynamics software receives external input experimental matrices, task parameters, and simulation initial values ​​as closed-loop initial conditions. The simulation dynamics software generates environmental parameters of the simulation environment and motion state parameters of the simulation motion based on the closed-loop initial conditions. These parameters are sent to the dynamic simulator as simulation dynamic parameters and to the sensor simulator as simulation sensor parameters. The sensor simulator simulates the measurement data of the sensors to be installed on the aircraft based on environmental parameters and motion state parameters; The flight control software calculates and generates control commands for the power simulator and control mechanisms or control simulators based on the measurement data simulated by the sensor simulator. The power simulator simulates the response of the power components based on the control commands from the flight control software and the environmental and motion parameters sent by the simulation dynamics software. It then reverse-engineers the control commands for the power components based on the response. The power components execute the control commands to change their motion state and feed back the motion state signals to the simulation dynamics software. The control mechanism executes control commands issued by the flight control software and feeds back the execution effect parameters to the simulation dynamics software; or it controls the simulator to simulate the execution of control commands issued by the flight control software and feeds back the simulation execution effect parameters to the simulation dynamics software. The simulation dynamics software combines the closed-loop initial conditions, motion state signals, and execution effect parameters or simulated execution effect parameters to recalculate and generate the environmental parameters and motion state parameters to be sent.

[0027] like Figure 1 As shown, the platform also includes a tooling kit for connecting the platform to external testing equipment; the test controller is also used to send control commands to the external testing equipment.

[0028] The external testing equipment is a ground-based testing platform. High-speed cameras and high towers or platforms are used for testing fault procedures and the deployment of emergency rescue equipment. A three-axis turntable is used for turntable tests to verify navigation accuracy and guidance control procedures. A wind tunnel and a testing machine matched with the wind tunnel are used for mechanical tests to verify aerodynamic loads and structures. Other specialized tests involve a variety of equipment.

[0029] The tooling system serves as the mechanical interface for the hardware-in-the-loop (HIL) simulation platform. Based on its attachment location and temporary nature, it is divided into three parts: on-board tooling, ground tooling, and tooling connectors. On-board tooling comprises the tooling components of the hardware-in-the-loop system, used to secure the physical components of the system, such as fixing aircraft parts and simulator hardware that replaces physical parts, reinforcing test equipment flying with the system, maintaining the shape and structure required for specific test items, and reinforcing counterweights. Ground tooling is fixed to the ground or external test equipment (such as towers, helicopters, ziplines, etc.) to secure ground test equipment and provide interfaces for the tooling connectors. The tooling connectors contain detachable moving mechanisms or ropes for the movable and detachable connection between the on-board and ground tooling, and for temporary fixation and auxiliary protection of the on-board tooling and the physical components of the hardware-in-the-loop system. In some tests, the tooling connectors also include moving devices such as slip rings to facilitate the connection of test cables.

[0030] Specifically, when using a counterweight device to simulate manned flight, the counterweight is reinforced by onboard fixtures; when using a static plastic dummy to simulate manned flight, the dummy wears the aircraft and can optionally be secured with onboard fixtures; when using a dynamic human body model for simulation testing to simulate manned flight, the human body model wears the aircraft normally without the need for onboard fixtures to secure it.

[0031] The platform also features a second closed-loop simulated flight test process. Users can choose either the first or second closed-loop simulated flight test process to execute the test. Selecting the first closed-loop simulated flight test process indicates that no external testing equipment is required, while selecting the second closed-loop simulated flight test process indicates that external testing equipment is used in conjunction with the test. In the first closed-loop simulated flight test process, the sensor simulator simulates all measurement data from the sensors to be installed on the aircraft. In the second closed-loop simulated flight test process, the physical sensors and the sensor simulator complement each other, forming a sensor suite for the test. The measurement data simulated by the sensor simulator supplements the measurement data collected by the physical sensors.

[0032] The simulation dynamics software receives externally input test matrices, mission parameters, initial simulation values, as well as execution effect parameters from the control mechanism or simulation simulator, and motion state signals fed back from the power components. Based on existing data and models, it simulates the dynamics and environmental characteristics of the actual flight process, simulates relevant disturbances and uncertainties according to the requirements of the experimental test content, and then calculates and generates environmental parameters and motion state parameters, sending these parameters to the corresponding stages. In other words, the input required for the simulation dynamics software to complete closed-loop simulation is the real-time signal transmitted from the aircraft, referred to as the downlink signal.

[0033] When no external testing equipment is used, and only a closed-loop test is conducted through the hardware-in-the-loop simulation platform itself (i.e., using the first closed-loop simulated flight test procedure), the data sent to the corresponding links is only sent to the sensor simulator, which then simulates and generates all the required sensor measurement values ​​and status parameters. This portion of the simulated parameters sent to the aircraft is called the uplink signal.

[0034] When using external testing equipment to assist in testing, the parameters sent to the target stage are divided into two parts. The first part consists of parameters that can be measured by physical sensors in the hardware-in-the-loop simulation test project. These parameters are converted into control commands for the external testing equipment of the hardware-in-the-loop simulation platform, so that the external testing equipment can change the environment and motion state of the aircraft hardware-in-the-loop system. Then, the physical sensors in actual flight collect the data. The remaining parameters are sent to the sensor simulator, which simulates and generates the corresponding sensor measurement values ​​and state parameters to supplement the data collected by the physical sensors.

[0035] Optionally, the uplink signal is preferably transmitted in the form of remote control, but cable transmission can also be used in some test projects; the downlink signal is preferably transmitted in the form of telemetry, but cable transmission can also be used in some test projects.

[0036] Specifically, in the uplink signal, the simulated power parameters sent to the power simulator simulate the environmental parameters and key motion state parameters of the actual power components (such as simulating a turbojet engine). The power simulator further integrates and converts the received uplink data and control commands from the flight control software to generate control commands usable by the power components (such as ducted fans) of the hardware-in-the-loop simulation platform. The data sent to the sensor simulator is the corresponding complete simulated environment and motion state of the sensor simulator that specifically replaces a certain function of the physical sensor. For example, initial values, real-time longitude, real-time latitude, real-time altitude, and real-time speed are sent to the satellite navigation simulator; initial values ​​and acceleration are sent to the accelerometer simulator; initial values, angular velocity, and angular acceleration are sent to the gyroscope simulator; and temperature, altitude, and air pressure are sent to the barometer simulator. Other simulated parameters required by the sensor simulator are not listed one by one. The sensor simulator converts the received uplink simulated data into the measured values ​​and state parameters of the simulated device according to the data format and type of the real device.

[0037] In the downlink signal, the data sent by the downlink test device is the test data it has collected. It does not participate in the closed-loop calculation of the simulation dynamics software, but the test controller instructions can be adjusted in some tests. The control mechanism and the control simulator are not selected at the same time. Their downlink signals are the actual execution effect parameters or the simulated execution effect parameters.

[0038] Specifically, such as Figure 4 As shown, the second closed-loop simulated flight test process includes: The simulation dynamics software receives external input test matrices, task parameters, and initial simulation values ​​as closed-loop initial conditions, and generates environmental parameters of the simulation environment and motion state parameters of the simulated motion.

[0039] The simulation dynamics software generates and sends environmental parameters and motion state parameters of the simulated environment to the test controller and sensor simulator based on the closed-loop initial conditions, designated as Branch 1 and Branch 2 respectively. Both Branch 1 and Branch 2 simultaneously enter the closed loop, combining the physical sensors used in Branch 1 and the sensor simulator in Branch 2 to form the sensor suite used in the actual flight process. Furthermore, the signals from Branch 1 and Branch 2 are different, complementing each other and jointly supplementing the data collected by the sensor suite. The simulation dynamics software also sends data to the dynamic simulator as one of the bases for generating control commands.

[0040] In Branch 1, the test controller calculates and generates control commands based on environmental and motion state parameters, and sends them to the external test device so that the external test device can execute the control commands. Measurement data of environmental and motion state changes caused by the execution of control commands by the external test device are acquired through physical sensors and sent to the flight control software. Simultaneously, in Branch 2, the sensor simulator reverse-engineers the environmental and motion state parameters to obtain the analytical data and operating status of the simulated sensors, i.e., the measurement data of the sensors to be actually installed on the aircraft, and sends it to the flight control software. The measurement data simulated by the sensor simulator serves as a supplement to the measurement data acquired by the physical sensors.

[0041] The flight control software combines the measurement data collected by the physical sensors in branch 1 and the measurement data simulated by the sensor simulator in branch 2 to obtain the data of the entire sensor system. It does not distinguish between real acquisition and simulation calculation, and performs navigation, guidance and control calculation in a unified manner to calculate and generate control commands for the power simulator and control commands for the control mechanism or control simulator. Here, the control commands for the control mechanism or control simulator are branch 3 and branch 4, respectively. The two are mutually exclusive, and one of them must be used. That is, only one of branch 3 and branch 4 can be selected to enter the closed loop.

[0042] The power simulator simulates the response of the power components based on the control commands from the flight control software and the environmental and motion state parameters sent by the simulation dynamics software. It then reverse-engineers the control commands for the power components based on the response. The power components execute the control commands to change their motion state and feed back motion state signals to the simulation dynamics software, thus creating a closed loop that influences the calculations and generation by the simulation dynamics software.

[0043] The control mechanism executes control commands issued by the flight control software and feeds back the execution effect parameters to the simulation dynamics software; or it controls the simulator to simulate the execution of control commands issued by the flight control software and feeds back the simulation execution effect parameters to the simulation dynamics software.

[0044] The simulation dynamics software combines the closed-loop initial conditions, motion state signals, and execution effect parameters or simulated execution effect parameters to recalculate the environmental parameters and motion state parameters to be sent.

[0045] The simulation dynamics software can also adjust the parameters sent to the test controller based on the test data transmitted from the test equipment in order to calibrate the control commands issued by the test controller.

[0046] The above description is only a preferred embodiment of this application and is not intended to limit this application. Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application.

Claims

1. A hardware-in-the-loop simulation test platform for a vertical takeoff and landing single-person aircraft, characterized in that, This includes semi-physical aircraft kits and ground testing equipment; The semi-physical system of an aircraft includes a power unit, control mechanism, test equipment, onboard computer as physical components, as well as flight control software loaded and running on the onboard computer, and a power simulator, control simulator, and sensor simulator loaded and running on the onboard computer or ground computer. The ground-based testing equipment includes simulation dynamics software that runs on a ground-based computer and is used to simulate the dynamic environment; The simulation dynamics software is used to calculate and generate environmental parameters and motion state parameters based on the received external input test matrix, mission parameters, simulation initial values, motion state signals of the power components after executing the control commands converted by the power simulator, and execution effect parameters of the control mechanism after executing the control commands issued by the flight control software or simulation execution effect parameters of the control simulator after simulating the execution of the control commands issued by the flight control software. These parameters are then sent to the sensor simulator and the power simulator. The sensor simulator is used to simulate the actual sensor measurement data to be installed on the aircraft based on environmental parameters and motion state parameters. Flight control software is used to calculate and generate control commands for the power simulator and control mechanisms or control simulators based on the measurement data simulated by the sensor simulator. The power simulator is used to simulate the response of the power components based on the control commands from the flight control software and the environmental and motion parameters sent by the simulation dynamics software, and to reverse-engineer the control commands for the power components based on the response. The testing equipment is used to collect test data and download it to the simulation dynamics software.

2. The hardware-in-the-loop simulation test platform for a vertical takeoff and landing single-person aircraft according to claim 1, characterized in that, The power components include ducted fan engines or propeller engines.

3. The hardware-in-the-loop simulation test platform for a vertical takeoff and landing single-person aircraft according to claim 1, characterized in that, The testing equipment is a test device that moves on the aircraft, including at least one of navigation equipment, pressure and / or stress testing equipment, velocimeter, barometer, and high-speed camera. The navigation equipment includes at least one of satellite navigation device, inertial navigation device, and astronomical navigation device.

4. The hardware-in-the-loop simulation test platform for a vertical takeoff and landing single-person aircraft according to claim 3, characterized in that, When used for sports testing, at least one of the following test equipment should be selected: a speedometer, a barometer, and a high-speed camera. When used for linear motion tests, the testing equipment shall also include at least one of satellite navigation devices, inertial navigation devices, and astronomical navigation devices. When used for rotational testing, the testing equipment should also include at least one of inertial navigation devices and astronomical navigation devices.

5. The hardware-in-the-loop simulation test platform for a vertical takeoff and landing single-person aircraft according to claim 3, characterized in that, When used for pneumatic testing, the testing equipment should be at least one of pressure and / or stress testing equipment and barometer.

6. The hardware-in-the-loop simulation test platform for a vertical takeoff and landing single-person aircraft according to claim 1, characterized in that, The platform features a first closed-loop simulated flight test process, including: The simulation dynamics software receives external input experimental matrices, task parameters, and simulation initial values ​​as closed-loop initial conditions. The simulation dynamics software sends environmental parameters of the simulated environment and motion state parameters of the simulated motion to the sensor simulator and the dynamic simulator. The sensor simulator simulates the measurement data of the sensors to be installed on the aircraft based on environmental parameters and motion state parameters; The flight control software calculates and generates control commands for the power simulator and control mechanisms or control simulators based on the measurement data simulated by the sensor simulator. The power simulator simulates the response of the power components based on the control commands from the flight control software and the environmental and motion parameters sent by the simulation dynamics software. It then reverse-engineers the control commands for the power components based on the response. The power components execute the control commands to change their motion state and feed back the motion state signals to the simulation dynamics software. The control mechanism executes control commands issued by the flight control software and feeds back the execution effect parameters to the simulation dynamics software; or it controls the simulator to simulate the execution of control commands issued by the flight control software and feeds back the simulation execution effect parameters to the simulation dynamics software. The simulation dynamics software combines the closed-loop initial conditions, motion state signals, and execution effect parameters or simulated execution effect parameters to recalculate the environmental parameters and motion state parameters to be sent.

7. The hardware-in-the-loop simulation test platform for a vertical takeoff and landing single-person aircraft according to claim 6, characterized in that, The platform also includes tooling kits for connecting the platform to external testing equipment; The physical components of the semi-physical kit for aircraft also include physical sensors, which are the actual collection of sensors to be installed on the aircraft. The ground testing equipment also includes a test controller, which is used to start the hardware-in-the-loop test platform to conduct tests, and also to send control commands to external test devices; The tooling kit includes on-machine tooling, ground tooling, and tooling connectors; Onboard tooling refers to the tooling components of a semi-physical aircraft kit, used to fix the physical parts of the semi-physical aircraft kit and to reinforce the counterweights. Ground fixtures are fixed to the ground or external testing equipment and are used to fix ground testing equipment. Tooling connectors are used for the movable and detachable connection of on-board tooling and ground tooling, and for the temporary fixing and auxiliary protection of on-board tooling and solid components of aircraft semi-physical kits; The hardware-in-the-loop simulation test platform for a vertical takeoff and landing single-person aircraft according to claim 7 is characterized in that the platform also has a second closed-loop simulated flight test process, and either the first closed-loop simulated flight test process or the second closed-loop simulated flight test process can be selected for execution when applied. The second closed-loop simulated flight test process includes: The simulation dynamics software receives external input experimental matrices, task parameters, and simulation initial values ​​as closed-loop initial conditions. The simulation dynamics software sends environmental parameters of the simulated environment and motion state parameters of the simulated motion to the test controller, sensor simulator, and dynamic simulator. The test controller calculates and generates control commands based on environmental and motion parameters, and sends them to the external test device so that the external test device can execute the control commands. It also collects measurement data of environmental and motion state changes caused by the execution of control commands by the external test device through physical sensors and sends them to the flight control software. The sensor simulator simulates the measurement data of the actual sensors to be installed on the aircraft based on environmental parameters and motion state parameters, and sends it to the flight control software; the measurement data simulated by the sensor simulator serves as a supplement to the measurement data collected by the physical sensors. The flight control software combines measurement data collected by physical sensors and measurement data simulated by sensor simulators to calculate and generate control commands for the power simulator and control commands for the control mechanism or control simulator. The power simulator simulates the response of the power components based on the control commands from the flight control software and the environmental and motion parameters sent by the simulation dynamics software. It then reverse-engineers the control commands for the power components based on the response. The power components execute the control commands to change their motion state and feed back the motion state signals to the simulation dynamics software. The control mechanism executes control commands issued by the flight control software and feeds back the execution effect parameters to the simulation dynamics software; or it controls the simulator to simulate the execution of control commands issued by the flight control software and feeds back the simulation execution effect parameters to the simulation dynamics software. The simulation dynamics software combines the closed-loop initial conditions, motion state signals, and execution effect parameters or simulated execution effect parameters to recalculate the environmental parameters and motion state parameters to be sent.

8. The hardware-in-the-loop simulation test platform for a vertical takeoff and landing single-person aircraft according to claim 7, characterized in that, The external test equipment is a ground test platform. When testing the failure process and the deployment of emergency rescue equipment, a high-speed camera and a high tower or platform are selected. When testing the turntable to verify navigation accuracy and guidance control process, a three-axis turntable is selected. When testing aerodynamic loads and structural mechanical tests, a wind tunnel and a test machine matched with the wind tunnel are selected.

9. The hardware-in-the-loop simulation test platform for a vertical takeoff and landing single-person aircraft according to claim 8, characterized in that, The simulation dynamics software is also used to adjust the parameters sent to the test controller based on the test data transmitted from the test equipment, so as to calibrate the control commands issued by the test controller.

Images