CN107807541A - A kind of integrated satellite dynamics emulation test system of modularization and method - Google Patents
A kind of integrated satellite dynamics emulation test system of modularization and method Download PDFInfo
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
A kind of integrated satellite dynamics emulation test system of modularization and method, the ground simulation that the system is used for moonlet Attitude and orbit control system are tested, and moonlet dynamics simulation test system is based on built modular, including observing and controlling host computer and real-time slave computer.Observing and controlling host computer is all-purpose computer, operating simulation system interactive software；Real-time slave computer includes cabinet, controller, digital signal acquiring and output card, collection of simulant signal and output card, the address cards of RS 422, CAN communication card, power power-supply card, interface box, real-time slave computer is in addition to cabinet and interface box, all functional module boards are based on PXI buses and realize integrated, the next machine controller operation dynamics simulation software.For real-time slave computer in addition to interface box, other modules are integrated in cabinet inside.Connected by Ethernet between host computer and slave computer, communicated based on ICP/IP protocol, carry out operational order, gathered data and the interaction for emulating data.The present invention is applied to the emulation testing of the Attitude and orbit control system of moonlet, improves the integrated level and scalability of moonlet rail control simulated test device, and equipment expansion is simple and quick.
Description
Technical field
The satellite dynamics emulation test system and method integrated the present invention relates to a kind of modularization, for realizing that satellite exists
The ground simulation of track-like state, ground simulation and the test of the Attitude and orbit control system of moonlet are can be applied to, belongs to Satellite attitude and orbit control system
The emulation testing field of system.
Background technology
Small Satellite Technology is rapidly developed in recent years, and small satellite constellation and group of stars technology start progressively to apply, to little Wei
The integration test of the whole star of star proposes requirements at the higher level.In the test of whole star, rail control subsystem test is wherein complex again
Link, moonlet control system are required for carrying out substantial amounts of ground simulation test job and more subsystems in development and launching phase
Transition.
The ground test of moonlet Attitude and orbit control system is mainly by the way of dynamics simulation, at present, moonlet rail control
System ground emulation test system is normally based on the discrete system of upper frame type rack and universal tester, this kind of system collection
It is low into spending, it is difficult to accomplish integrated control, equipment is deployed and using complexity, and generalization degree is low, due to bulky, weight
Greatly, transport difficulty is big, it is difficult to adapts to the fast-developing requirement of moonlet.
The content of the invention
Present invention solves the technical problem that it is：A kind of overcome the deficiencies in the prior art, there is provided the integrated satellite of modularization
Dynamics simulation test system and method, equipment is simple and quick based on modularized design, integrated level height, favorable expandability, expansion, can
Effectively to lift testing efficiency, shorten test period.
The present invention technical solution be：A kind of integrated satellite dynamics emulation test system of modularization, including survey
Control host computer, real-time slave computer and cable；Observing and controlling host computer completes people with real-time slave computer by cable connection, observing and controlling host computer
Machine interaction and real-time slave computer carry out data interaction and test data processing shows that real-time slave computer completes dynamics simulation
Calculate, external satellite real time data acquisition and output and dynamics simulation data broadcasting, real-time slave computer and external satellite lead to
Cross cable connection.
The observing and controlling host computer is all-purpose computer, observing and controlling host computer operating simulation system interactive software, including place
Manage device, display and input equipment；TCP/IP network communication interfaces are integrated on processor；Input equipment completes test parameter and behaviour
Input；Display shows simulation run state machine parameter, and processor completes data processing and storage.
The slave computer in real time includes cabinet, interface box, PXI buses, controller, digital signal acquiring and output card, mould
Intend signal acquisition and output card, RS-422 address cards, CAN communication card, power power-supply card, interface box；Dynamics simulation operates in
In controller, RS-422 address cards, CAN communication card, digital signal acquiring machine output card, analog signal are gathered by PXI buses
The signal of harvester output card, communicated by digital signal acquiring and output card, collection of simulant signal and output card, RS-422
Card, CAN communication card, power power-supply card output control signal.
In addition to cabinet and interface box, all functional module boards are based on PXI buses and realize integrated, control the slave computer in real time
Device processed carries out data interaction by other functional module boards in PXI buses and PXI buses, and TCP/IP networks are integrated on controller
Communication interface.
Described interface box is fixedly connected with cabinet by screw, there is the connector of switching on interface box, inside connector
It is electric with digital signal acquiring and output card, collection of simulant signal and output card, RS-422 address cards, CAN communication card, power respectively
The interface of source card the outside star catalogue cable connection with satellite, realizes each functional module board and tested appearance by cable connection
Rail control system physical connects.
RT real time operating systems are run in described controller, dynamic emulation calculation software is run in RT real-time systems；
Controller is the kernel of real-time slave computer, and controller externally possesses 2 Ethernet interfaces, and the controller of real-time slave computer passes through
TCP/IP network communication interfaces are connected with the TCP/IP network communication interfaces of observing and controlling host computer by netting twine, realize data interaction,
By Ethernet interface with the external real-time broadcast dynamics calculation data of UDP.
The power power-supply card is regulated power supply card, exports gyro constant current source signal, and gyro during as emulation testing swashs
Encourage source.
A kind of integrated satellite dynamics emulation test method of modularization, step are as follows：
1) cable of observing and controlling host computer and real-time slave computer is connected；
2) connecting cable of real-time slave computer and outside tested satellite is connected；
3) outside tested satellite power-up；
4) slave computer power-up in real time, waits 30 seconds start completions；
5) observing and controlling host computer powers up, and waits 60 seconds start completions；
6) observing and controlling host computer sets dynamics simulation parameter；
7) it is tested satellite and orbit parameter is set；
8) observing and controlling host computer starts emulation testing；
9) after the completion of emulation testing, observing and controlling host computer stops emulation testing；
10) observing and controlling host computer, real-time slave computer, outside tested satellite are closed successively.
The observing and controlling host computer is all-purpose computer, observing and controlling host computer operating simulation system interactive software, including place
Manage device, display and input equipment；TCP/IP network communication interfaces are integrated on processor；Input equipment completes test parameter and behaviour
Input；Display shows simulation run state machine parameter, and processor completes data processing and storage.
The slave computer in real time includes cabinet, interface box, PXI buses, controller, digital signal acquiring and output card, mould
Intend signal acquisition and output card, RS-422 address cards, CAN communication card, power power-supply card, interface box；Dynamics simulation operates in
In controller, RS-422 address cards, CAN communication card, digital signal acquiring machine output card, analog signal are gathered by PXI buses
The signal of harvester output card, communicated by digital signal acquiring and output card, collection of simulant signal and output card, RS-422
Card, CAN communication card, power power-supply card output control signal.
The present invention compared with prior art the advantages of be：The technology that the present invention is integrated using modularization, based on PXI buses
Technology, the test equipment sub-module required for satellite dynamics emulation testing is integrated, make use of RT real time operating systems
Real-time characteristic, dynamics simulation is partially integrated in real-time slave computer, by man-machine interaction and, data show, data
Storage is integrated in observing and controlling host computer.The characteristics of for satellite dynamics emulation testing, regulated power supply card is employed as star top
The driving source of part, filled using unified data signal machine collection of simulant signal, output board card as the collection and output of hardware signal
Put.
The present invention improves the integrated level of satellite dynamics simulated test device, and real-time slave computer all devices are all integrated in
Cabinet (length × width × height：40mm × 28mm × 16mm) in, equipment expansion, which uses, only to be needed to connect in real-time slave computer and observing and controlling
Position electromechanical source and network cable, the signal cable of the real-time slave computer of connection and tested Attitude and orbit control system.The present invention possesses general
Property, driving source and signaling interface all possess versatility.
The present invention realizes the highly integrated of satellite dynamics emulation test system, easy to use, is easy to equipment to transport
It is defeated；The system is based on modularized design, and each functional module is separately designed, and is easy to maintenance and the functions expanding of system；Equipment spirit
It is active high, it is universal good, suitable for different types of satellite dynamics emulation testing；Solve existing discrete instrument and restocking
The integrated equipment volume of formula is big, be not easy to transport, equipment expansion and using it is cumbersome the problem of.
Brief description of the drawings
Fig. 1 is present system composition figure；
Fig. 2 is dynamics simulation flow chart of the present invention；
Fig. 3 is dynamics simulation test philosophy figure of the present invention；
Fig. 4 is present invention expansion and application order figure (by taking whole star rail control closed cycle simulation test as an example).
Embodiment
The invention will be further described with specific embodiment below in conjunction with the accompanying drawings.
The present invention is a kind of system available for satellite dynamics emulation testing, can be whole star rank used in Micro-Satellite Attitude rail control
The test of section, it can also be used under rail control subsystem in test and Attitude and orbit control system development test.As shown in figure 1, the satellite moves
Mechanics Simulation test system mainly includes observing and controlling host computer and real-time slave computer.Observing and controlling host computer is all-purpose computer, including place
Manage device, display and input equipment, observing and controlling host computer operating simulation system interactive software；Real-time slave computer include cabinet,
Controller, digital signal acquiring and output card, collection of simulant signal and output card, RS-422 address cards, CAN communication card, power
Power card, interface box, for real-time slave computer in addition to cabinet and interface box, it is integrated that all functional module boards are based on the realization of PXI buses.
In addition to real-time slave computer interface box, other modules are all integrated in cabinet inside.The next machine controller operation dynamics simulation in real time
Software for calculation.Connected by Ethernet between host computer and slave computer, communicated based on ICP/IP protocol, carried out operational order, adopt
Collect data and emulate the interaction of data.Real-time the next machine controller passes through udp broadcast dynamics real time data.
Specifically used method is：By the test interface of Satellite attitude and orbit control system, (including center-controlling computer RS-422 leads to
Communication interface, sensor pumping signal interface, executing agency's data message interface) surveyed by star catalogue cable connection to dynamics simulation
On the interface box interface of test system, after being changed by interface box, signal connects respectively at corresponding module board, can be according to reality
Border test scene (subsystem test, the test of whole star, developing experiment) corresponding connecting cable of selection.On real-time slave computer and observing and controlling
Position machine connection 220VAC power supplys, powering order is according to following progress during use：Satellite attitude and orbit control subsystem power-up → the next in real time
Power-up (waits real-time slave computer to start to finish) → observing and controlling host computer power-up → operation monitoring upper computer software.Software, which starts, to be finished
Afterwards, software test function is selected according to specific test event, carries out corresponding test job.As shown in Fig. 2 perform rail control
During system dynamics emulation testing, after system initialization and self-test is completed, the primary condition and rail of dynamics simulation are first set
Road information, then carry out dynamics simulation operation.It is completed, system cut-off order is according to following progress：Close observing and controlling host computer
Upper electromechanical source → the closing of software → closing observing and controlling the next electromechanical source → satellite attitude and orbit control subsystem power-off in real time.Perform Satellite Attitude
During rail control system closed loop test, observing and controlling host computer will carry out dynamics simulation initial attitude angle, initial angular velocity is set, track six
The setting of radical and Attitude and orbit control system it is consistent, when starting to want after emulation testing the star of motivation of adjustment emulation test system and appearance
It is consistent during the star of rail control system.
Real-time slave computer has special Ethernet interface, the outside dynamic (dynamical) data of real-time broadcast, is read for other systems.
After Satellite attitude and orbit control system is by cable connection to emulation test system, first powers up and run to Attitude and orbit control system, then
Give emulation test system power-up, and start testing system software operation, by observing and controlling host computer set dynamics simulation parameter and
Orbit parameter, it is downloaded to by netting twine in the controller of real-time slave computer, the execution of control dynamics emulation testing, in controller
Dynamics software by after data processing by RS-422 address cards, power power-supply card, digital signal acquiring and output card, simulation
Signal acquisition and output card are set, and data are sent into Attitude and orbit control system on star by star catalogue cable.Dynamics simulation test system
Unite real-time slave computer by dynamics simulation software poll digital signal acquiring in controller and output card, collection of simulant signal and
Output card, RS-422 address cards, related data on real-time reception star, and by TCP/IP interfaces after data message is handled
It is uploaded to observing and controlling host computer and dynamics data real-time broadcast.
Described interface box, the interface conversion applied for card for completing each functional module of equipment, it is easy to and outside rail control system
System star catalogue cable connection.
Described controller internal memory is not less than 4GB, and hardboard is not less than 32GB, integrates 2 USB interfaces, 2 TCP/IP networks
Interface.
The interface default setting of described RS-422 address cards is：Baud rate：38400, data bit：8, stop position：1, very
Even parity check：Very, flow control：Nothing.All parameters can be configured by observing and controlling upper computer software.
Described CAN communication card interface default setting is：Baud rate：500kbps, parameter configuration, CAN communication can be passed through
Star Service instruction interface is simulated when being stuck in rail control subsystem emulation testing to use, and is not applied under whole star environment.
Described power power-supply card performance parameter is：Voltage source 1：Range+6V, precision 0.12mV；Voltage source 2：Range+
20V, precision 0.40mV；Voltage source 3：Range -20V, precision 0.40mV；Current source 1：Range 1A, precision 0.01mA；Current source 2：
Range 20mA, the μ A of precision 0.20.
Described digital signal acquiring and output board card parameter be：32 channel standard TTL data signals input, 32 passage marks
Quasi- TTL data signals output, input/output tape isolation, frequency acquisition 1.24MHZ.
Described collection of simulant signal and output board card parameter be：32 passage 16bit analog signal outputs, voltage range (-
10V~+10V), 8 passage 16bit analog signals input (- 10V~+10V).
It is illustrated in figure 3 schematic diagram of the present invention when carrying out dynamics simulation test.Dynamics simulation test system
RS-422 interfaces can enter row data communication and star sensor emulation signal output with the controller of Attitude and orbit control system；Data signal
Collection and output card output port and satellite on digital sun sensor circuit connection, simulation model collection and output card it is defeated
Exit port is connected with simulated solar circuit, and the output signal of circuit power card is connected with the circuit of gyro sensor.Surveyed in emulation
In examination, output signal emulation and driving source of these output signals as sensor；The collection of digital signal acquiring and output card
Executing agency information of the collection terminal of end and collection of simulant signal and output card for gathering Attitude and orbit control system, including momenttum wheel,
Magnetic torquer, propulsion system；The controller of real-time slave computer can complete executing agency's data calculation, dynamics simulation,
Sensor signal of change.CAN cards and the communication of rail control subsystem are dotted line in figure, need not be connected under whole star environment,
Rail control subsystem or development stage use.
The stream of present system expansion and application shown in Fig. 4 by taking rail control subsystem closed loop test in the test of whole star as an example
Cheng Tu, in the expansion and application of rail control subsystem and development stage, without the link of satellite system power-up, satellite system hair
Send instruction that CAN snap gauges can be used to intend performing.
Present system using when should be noted item：(1) it is the next in real time before test power-up to need and tested appearance
Rail control system is altogether, it is ensured that safety；(2) connection dynamics simulation test system and Satellite attitude and orbit control system star catalogue cable it
Before, to system power supply, check the voltage between star catalogue cable and Satellite attitude and orbit control system ground wire, it is ensured that without dangerous voltage, then close
Close test system；(3) in testing, powering order：Satellite power-up → rail control subsystem power-up → dynamics simulation test system
Real-time slave computer power-up → dynamics simulation test system observing and controlling host computer power-up；(4) after the completion of testing, power down sequence：Power
Learn emulation test system observing and controlling host computer power-off → real-time slave computer power-off → rail control subsystem of dynamics simulation test system
Power-off → satellite power-off；(5) during rail control closed loop test, it is ensured that star ground time consistency.
Attitude and orbit control system closed loop test can select connection star catalogue cable according to actual conditions under whole star,
Described above is to carry out moonlet rail control system testing using present system, for sensor species in top
Spiral shell, star sensor, the digital sun, in the range of simulated solar, executing agency is small in momenttum wheel, magnetic torquer, Propulsion Range
The ground simulation of the systems such as Satellite attitude and orbit control, Nano satellite Attitude and orbit control system, skin Satellite attitude and orbit control tests applicable, professional technique
Personnel can be tested accordingly as needed.
The content not being described in detail in description of the invention belongs to the known technology of those skilled in the art.
Claims (10)
- A kind of 1. integrated satellite dynamics emulation test system of modularization, it is characterised in that：Including observing and controlling host computer, in real time under Position machine and cable；Observing and controlling host computer and real-time slave computer by cable connection, observing and controlling host computer finishing man-machine interaction, with real time under Position machine carries out data interaction and test data processing display, real-time slave computer complete dynamics simulation, external satellite number Gather and export when factually and dynamics simulation data broadcasting, real-time slave computer and external satellite pass through cable connection.
- A kind of 2. integrated satellite dynamics emulation test system of modularization according to claim 1, it is characterised in that：Institute It is all-purpose computer, observing and controlling host computer operating simulation system interactive software, including processor, display to state observing and controlling host computer And input equipment；TCP/IP network communication interfaces are integrated on processor；Input equipment completes test parameter and operation input；Display Device shows simulation run state machine parameter, and processor completes data processing and storage.
- A kind of 3. integrated satellite dynamics emulation test system of modularization according to claim 1, it is characterised in that：Institute Stating real-time slave computer includes cabinet, interface box, PXI buses, controller, digital signal acquiring and output card, collection of simulant signal And output card, RS-422 address cards, CAN communication card, power power-supply card, interface box；Dynamics simulation is run in the controller, is led to Cross PXI buses collection RS-422 address cards, CAN communication card, digital signal acquiring machine output card, collection of simulant signal machine output card Signal, by digital signal acquiring and output card, collection of simulant signal and output card, RS-422 address cards, CAN communication card, Power power-supply card output control signal.
- A kind of 4. integrated satellite dynamics emulation test system of modularization according to claim 3, it is characterised in that：Institute Real-time slave computer is stated in addition to cabinet and interface box, all functional module boards are based on the realization of PXI buses and integrated, and controller passes through PXI buses carry out data interaction with other functional module boards in PXI buses, and integrating TCP/IP network communications on controller connects Mouthful.
- 5. the satellite dynamics emulation test system that a kind of modularization according to Claims 2 or 3 or 4 integrates, its feature It is：Described interface box is fixedly connected with cabinet by screw, has the connector of switching on interface box, connector inside is respectively With digital signal acquiring and output card, collection of simulant signal and output card, RS-422 address cards, CAN communication card, power power-supply card Interface by cable connection, the outside star catalogue cable connection with satellite, realize each functional module board and tested rail control System physical connects.
- A kind of 6. integrated satellite dynamics emulation test system of modularization according to claim 3, it is characterised in that：Institute RT real time operating systems are run in the controller stated, dynamic emulation calculation software is run in RT real-time systems；Controller is real When slave computer kernel, controller externally possesses 2 Ethernet interfaces, and the controller of real-time slave computer is led to by TCP/IP networks Letter interface is connected with the TCP/IP network communication interfaces of observing and controlling host computer by netting twine, is realized data interaction, is connect by Ethernet Mouth is with the external real-time broadcast dynamics calculation data of UDP.
- A kind of 7. integrated satellite dynamics emulation test system of modularization according to claim 3, it is characterised in that：Institute It is regulated power supply card to state power power-supply card, exports gyro constant current source signal, gyro driving source during as emulation testing.
- 8. the integrated satellite dynamics emulation test method of a kind of modularization, it is characterised in that step is as follows：1) cable of observing and controlling host computer and real-time slave computer is connected；2) connecting cable of real-time slave computer and outside tested satellite is connected；3) outside tested satellite power-up；4) slave computer power-up in real time, waits 30 seconds start completions；5) observing and controlling host computer powers up, and waits 60 seconds start completions；6) observing and controlling host computer sets dynamics simulation parameter；7) it is tested satellite and orbit parameter is set；8) observing and controlling host computer starts emulation testing；9) after the completion of emulation testing, observing and controlling host computer stops emulation testing；10) observing and controlling host computer, real-time slave computer, outside tested satellite are closed successively.
- A kind of 9. integrated satellite dynamics emulation test method of modularization according to claim 8, it is characterised in that：Institute It is all-purpose computer, observing and controlling host computer operating simulation system interactive software, including processor, display to state observing and controlling host computer And input equipment；TCP/IP network communication interfaces are integrated on processor；Input equipment completes test parameter and operation input；Display Device shows simulation run state machine parameter, and processor completes data processing and storage.
- A kind of 10. integrated satellite dynamics emulation test method of modularization according to claim 8, it is characterised in that： The slave computer in real time includes cabinet, interface box, PXI buses, controller, digital signal acquiring and output card, analog signal and adopted Collection and output card, RS-422 address cards, CAN communication card, power power-supply card, interface box；Dynamics simulation is run in the controller, RS-422 address cards, CAN communication card, digital signal acquiring machine output card, collection of simulant signal machine are gathered by PXI buses to export The signal of card, pass through digital signal acquiring and output card, collection of simulant signal and output card, RS-422 address cards, CAN communication Card, power power-supply card output control signal.
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| CN113468054B (en) * | 2021-07-01 | 2024-02-09 | 中国科学院微小卫星创新研究院 | Automatic test system and method for satellite interface and function test |
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