CN117706958A - Semi-physical simulation system applied to multi-satellite cooperative tasks - Google Patents
Semi-physical simulation system applied to multi-satellite cooperative tasks Download PDFInfo
- Publication number
- CN117706958A CN117706958A CN202311679292.1A CN202311679292A CN117706958A CN 117706958 A CN117706958 A CN 117706958A CN 202311679292 A CN202311679292 A CN 202311679292A CN 117706958 A CN117706958 A CN 117706958A
- Authority
- CN
- China
- Prior art keywords
- satellite
- single machine
- wireless
- dynamics
- data
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004088 simulation Methods 0.000 title claims abstract description 96
- 238000004364 calculation method Methods 0.000 claims abstract description 19
- 230000004044 response Effects 0.000 claims abstract description 12
- 238000005094 computer simulation Methods 0.000 claims abstract description 10
- 238000004891 communication Methods 0.000 claims description 39
- 239000013307 optical fiber Substances 0.000 claims description 2
- 238000005259 measurement Methods 0.000 abstract description 4
- 230000005540 biological transmission Effects 0.000 description 9
- 238000000034 method Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 230000002159 abnormal effect Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 239000000835 fiber Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000006855 networking Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 102000009142 CRC domains Human genes 0.000 description 1
- 108050000006 CRC domains Proteins 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009432 framing Methods 0.000 description 1
- 230000002427 irreversible effect Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000011022 operating instruction Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a semi-physical simulation system applied to multi-satellite cooperative tasks, which comprises a dynamics model control computer, a satellite computer and a wireless single machine component; the dynamic model control computer is mainly used for calculating a Simulink dynamic simulation model, modifying parameters of a single machine of the Simulink dynamic simulation model according to task requirements, and sending calculation results to corresponding wireless single machine components; the wireless single machine component forms a remote measurement data from the calculation result of the dynamics model control computer through a wireless signal and transmits the remote measurement data to the star computer; the star computer is connected with the wireless single machine component and is used for receiving real-time response data of the wireless single machine component and returning telemetry data of the whole star to the dynamics model control computer. The complex multi-satellite dynamic simulation is realized through fewer hardware connections, and the experimental cost of multi-satellite joint simulation is saved.
Description
Technical Field
The invention belongs to the technical field of satellite ground simulation, and particularly relates to a system suitable for ground real-time dynamics simulation of a plurality of satellite networking.
Background
With the continuous development of satellite development technology, the task demands of joint work of multiple satellites are also continuously increasing. In the aspects of satellite design, satellite manufacturing, task planning and the like, a large number of ground simulation tests are required to be carried out by using a computer, so that the attitude information and orbit information of the satellite in the flight process are ensured to meet the design requirements. The common satellite simulation system comprises software simulation, physical simulation and semi-physical simulation, wherein the software simulation cost is low, and the simulation system can be flexibly modified; the physical simulation can more truly restore the satellite, and the simulation effect is good; the semi-physical simulation combines the advantages of software simulation and physical simulation, adopts the physical simulation for the part with high precision requirement, adopts the software simulation for other parts to reduce the cost, and has been widely used.
At present, a semi-physical simulation system of satellite dynamics is generally aiming at a specific task or specific functions of a single satellite, the configuration of the simulation system is inflexible, the openness of the system is insufficient, the applicability is poor, and the synchronous requirement of the joint simulation of a plurality of satellites cannot be met.
The patent CN112034732a proposes a semi-physical satellite simulation system and a simulation method, which utilizes 1553 simulation equipment to send a request instruction of a satellite simulation computer to an external single machine, and receives telemetry data sent by the single machine through a 1553B bus, so that the technical problem of poor applicability of the satellite simulation system is solved, but the task requirements of joint work of a plurality of satellites cannot be met well. The CN101995825A builds a satellite dynamics and control distributed simulation platform, and utilizes the components of a network switch, an STK orbit computer, a gesture and orbit dynamics computer, a control algorithm computer, a curve display computer, a simulation management computer and the like to realize the output of full-period simulation results of satellites starting from flight tasks, but the hardware redundancy is difficult to apply to the joint simulation of a plurality of satellites.
Disclosure of Invention
The invention aims to overcome the defects of the existing satellite dynamics simulation system and provides a real-time dynamics simulation system suitable for networking of a plurality of satellites.
The technical scheme of the invention is as follows: a semi-physical simulation system applied to multi-satellite cooperative tasks comprises a dynamics model control computer, a satellite computer and a wireless single machine component;
the dynamic model control computer is mainly used for calculating a Simulink dynamic simulation model, modifying parameters of a single machine of the Simulink dynamic simulation model according to task requirements, and sending calculation results to corresponding wireless single machine components; meanwhile, the calculation results of each single machine of the dynamics simulation model are analyzed and compared in big data, single machine faults are verified, and the dynamics model is timely adjusted; the input of the Simulink dynamics simulation model is a single-machine operation instruction, and the output is a single-machine response; the Simulink dynamics simulation model is used for simulating an external single machine of the satellite and calculating dynamics characteristics of a plurality of satellites;
the wireless single machine component transmits the calculation result of the dynamics model control computer to the star computer through a wireless signal to form telemetry data;
the satellite computer is connected with the wireless single machine component, is used for receiving real-time response data of the wireless single machine component, and returns telemetry data of the whole satellite to the dynamics model control computer, is a physical simulation model of the whole satellite, and can receive a remote control instruction of the dynamics model control computer, and the working state and the working task operation information are adjusted according to the remote control instruction.
Further, in the wireless single unit component, the wireless single unit component is divided into a reaction flywheel wireless single unit, an optical fiber gyro wireless single unit and a star sensor wireless single unit according to different single unit types; and matching the single machine modules of different types according to different types of tasks to meet the simulation requirement.
Further, in the wireless stand-alone unit assembly, the corresponding wireless communication module is selected according to the communication mode of the satellite stand-alone unit.
Further, the wireless communication module includes 422 a communication module and a CAN communication module.
Furthermore, in the 422 communication module, the satellite single machine adopts a double-point double-line mode, so that the reliability of the communication interface is improved. The 422 data frame comprises four parts of a frame start part, a data field, a check code and a frame end part, and stand-alone data is stored in the data field and transmitted along with the 422 communication protocol.
Furthermore, in the CAN communication module, satellite single-machine data are stored in an 8-bit data section and are transmitted along with a CAN communication protocol.
Furthermore, in the dynamics model control computer, parameters of a single unit of the Simulink dynamics simulation model, which can be modified according to task requirements, comprise a reaction flywheel rotating speed and a thruster switch.
Further, the single-machine operation command comprises a reaction flywheel rotating speed command and a thruster switch command; the response of the single machine comprises the triaxial output of the magnetometer and the triaxial angular rate of the fiber-optic gyroscope.
Further, the real-time response data of the wireless single machine component comprises flywheel rotating speed, attitude angular speed and attitude angle.
The beneficial effects of the invention are as follows: the dynamic semi-physical simulation system applied to the multi-satellite joint simulation is provided, complex multi-satellite dynamic simulation is realized through fewer hardware connections, and the experimental cost of the multi-satellite joint simulation is saved; the mode of wirelessly transmitting data and signals gets rid of space constraint of satellite ground dynamics simulation, reduces the line design requirement of the traditional dynamics simulation, and saves space resources; the wireless single machine component can be quickly replaced, added and deleted to meet the satellite joint simulation task simulation requirements of different scales, and has short time consumption and strong applicability.
Drawings
FIG. 1 is a schematic diagram of a multi-satellite joint dynamic semi-physical simulation system design;
FIG. 2 is a variation number simulation schematic;
FIG. 3 is a flow chart of a multi-satellite joint dynamic semi-physical simulation system;
fig. 4 is a data frame format for RS422 communication;
fig. 5 is a standard frame format of a CAN bus data frame.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The system comprises a dynamics model control computer, a satellite computer and a wireless single machine component, wherein the dynamics model control computer is mainly used for calculating a Simulink dynamics simulation model, parameters of the single machine of the Simulink dynamics simulation model, such as a reaction flywheel rotating speed, a thruster switch and the like, can be modified according to task requirements, the calculation results are sent to the corresponding wireless single machine component, meanwhile, the calculation results of the single machines of the dynamics model are subjected to big data analysis and comparison, single machine faults are verified, the dynamics model is timely adjusted, the input of the Simulink dynamics simulation model is a single machine operating instruction, such as a reaction flywheel rotating speed instruction, a thruster switch instruction and the like, the output is a single machine response, such as a magnetometer triaxial output, a fiber optic gyro triaxial angular speed and the like, and the Simulink dynamics simulation model is used for simulating an external single machine of a satellite and calculating dynamics characteristics of a plurality of satellites.
The wireless single machine component CAN form remote measurement data by using a calculation result of the dynamic model control computer through wireless signals to transmit the remote measurement data to the star computer, the wireless single machine component CAN be divided into a reaction flywheel wireless single machine, a fiber optic gyro wireless single machine, a star sensor wireless single machine and the like according to different types of tasks, different types of single machine modules CAN be matched to meet simulation requirements, corresponding wireless communication modules are selected according to a communication mode of the satellite single machine, 422 communication and CAN communication are commonly used, 422 is a series of data transmission protocols which are provided with 4 lines, full duplex, differential transmission and multipoint communication, and the data transmission protocols adopt balance transmission and adopt a one-way/irreversible transmission line with an enabling end or a transmission line without an enabling end, and the satellite single machine adopts a double-point double-line form, so that the reliability of a communication interface is improved. The data frame format is shown in fig. 4, and the data frame includes four parts, namely a frame start part, a data field, a check code and a frame end part, and the stand-alone data is stored in the data field and transmitted along with the communication protocol of 422. The CAN bus communication interface integrates the functions of a physical layer and a data link layer of a CAN protocol, CAN complete framing processing of communication data, comprises bit filling, data block coding, cyclic redundancy check, priority discrimination and the like, and an identifier of the data block CAN be composed of 11-bit or 29-bit binary numbers, so that 2 or more different data blocks CAN be defined, and different nodes CAN receive the same data at the same time in a data block coding mode, which is very useful in a distributed control system. The length of the data segment is 8 bytes at most, so that the general requirements of control commands, working states and test data in the common industrial field can be met, meanwhile, 8 bytes cannot occupy too long bus time, and the real-time performance of communication is ensured. The CAN data frame format is shown in fig. 5, and a standard frame format of the data frame comprises 1 SOF (Start of Frame) bit, an arbitration domain, a control domain, a data domain, a 16-bit CRC domain, a 2-bit ACK response domain and 7 bits EOF (End of Frame) according to the specification, wherein satellite single machine data is stored in an 8-bit data segment and transmitted along with a CAN communication protocol.
The satellite computer is connected with the wireless single machine component and is used for receiving real-time response data of the wireless single machine component, such as flywheel rotation speed, attitude angular speed, attitude angle and the like, and returning telemetry data of the whole satellite to the dynamics model control computer, so that the satellite remote control system is a physical simulation model of the whole satellite, and can receive a remote control instruction of the dynamics model control computer and adjust operation information of working states, working tasks and the like according to the remote control instruction.
The whole simulation system has less hardware requirements and simple line connection, can meet the flight task requirements of real-time dynamic simulation of a plurality of satellites, can meet the development requirements of different models through simple module adjustment, has high recycling rate, and has a system composition schematic diagram shown in figure 1.
As shown in fig. 3, the workflow of the dynamic semi-physical simulation system applied to multi-satellite combination is specifically as follows:
step one: the method comprises the steps of establishing wireless communication connection between a dynamics model control computer and a wireless single machine component, running a Simulink dynamics simulation model of one or more satellites in the dynamics model control computer, wherein the calculation result of the Simulink dynamics simulation model mainly comprises the output result of each simulation single machine of the satellite and the attitude information of the satellite, outputting the calculation result of the dynamics simulation model in real time in the running process, transmitting the data of each single machine output by the dynamics model to a corresponding wireless single machine module through wireless communication, selecting the corresponding wireless communication module according to the communication mode of the single machine of the satellite, for example, a reaction flywheel adopts a CAN communication mode, using a wireless communication module of CAN protocol such as a GCAN-211 module, selecting the corresponding module according to requirements, and obtaining the real-time change of the attitude information of one or more satellites in orbit and the output result of the single machine of satellite attitude control.
Step two: the communication connection between the wireless single unit component and the satellite computer is established, the corresponding wireless single unit module is selected and connected according to the actual single unit of the satellite, the wireless single unit module receives the data of the simulation single unit in the dynamic model control computer, and the data of the simulation single unit is transmitted to the satellite computer, so that the satellite single unit simulation model is a simulation model of the actual satellite single unit.
Step three: and carrying out real-time dynamics simulation, calculating dynamics calculation results of one or more satellites in real time through a dynamics model control computer, observing state changes of each single satellite, simultaneously monitoring the whole satellite state fed back by a satellite computer, and simulating the attitude and orbit changes of one or more satellites in orbit running. According to different flight task demands, the control parameters of satellite attitude and orbit are modified in a dynamics model control computer or a satellite computer, such as control amounts of reaction flywheel rotating speed, thruster opening time and the like, the set control parameters are transmitted to the dynamics model control computer in the dynamics model control computer, or the set control parameters are transmitted to the dynamics model control computer in the satellite computer by using wireless transmission, at the moment, the dynamics model control computer receives the control parameters and then carries out corresponding simulation calculation, and a calculation result after the control operation is output and is transmitted to the satellite computer by wireless transmission to obtain whole-satellite movement information change of the satellite computer, a series of orbit transfer operation and attitude control operation on satellites are realized according to the task demands, and semi-physical dynamics simulation of a multi-satellite system is carried out.
Step four: the abnormal parts of the wireless single machine assembly are corrected, the dynamic model control computer analyzes and compares the calculation results of all the single machines with big data, if simulation data of a certain single machine is displayed on the dynamic model control computer to generate an abnormality, the simulation data of the single machine can be adjusted, if the simulation data of the certain single machine is abnormal in transmission, the corresponding wireless single machine assembly can be replaced, and if no abnormal single machine exists, the step three can be continued to perform real-time dynamic simulation.
Step five: the simulation of the variant number is carried out on satellites of other types in the semi-physical simulation system, and then a wireless single unit component needs to be added or deleted, for example, a reaction flywheel wireless single unit is needed in the previous type, four reaction flywheel wireless single units are needed in this time, the reaction flywheel wireless single unit component needs to be added in the aspect of hardware and connected to a relevant interface of a satellite computer, the simulation model of the Simulink needs to be modified according to task requirements in the aspect of software, and calculation parameters of the simulation model are transmitted to a newly added wireless single unit module in a dynamics model control computer to carry out dynamics simulation of a new type, and a schematic diagram of the variant number simulation is shown in fig. 2. And if the modification number simulation is not needed, continuing the step three, and performing real-time dynamics simulation.
Step six: and (3) ending the simulation, recording attitude control data and simulation calculation results of the dynamic model in the whole simulation task process of the satellite, disconnecting the wireless communication between the dynamic model control computer and the wireless single machine component, disconnecting the signal connection between the wireless single machine component and the satellite computer, closing the dynamic model control computer and the satellite computer, and ending the simulation task.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (9)
1. A semi-physical simulation system applied to multi-satellite cooperative tasks is characterized in that: the system comprises a dynamics model control computer, a star computer and a wireless single machine component;
the dynamic model control computer is mainly used for calculating a Simulink dynamic simulation model, modifying parameters of a single machine of the Simulink dynamic simulation model according to task requirements, and sending calculation results to corresponding wireless single machine components; meanwhile, the calculation results of each single machine of the dynamics simulation model are analyzed and compared in big data, single machine faults are verified, and the dynamics model is timely adjusted; the input of the Simulink dynamics simulation model is a single-machine operation instruction, and the output is a single-machine response; the Simulink dynamics simulation model is used for simulating an external single machine of the satellite and calculating dynamics characteristics of a plurality of satellites;
the wireless single machine component transmits the calculation result of the dynamics model control computer to the star computer through a wireless signal to form telemetry data;
the satellite computer is connected with the wireless single machine component, is used for receiving real-time response data of the wireless single machine component, and returns telemetry data of the whole satellite to the dynamics model control computer, is a physical simulation model of the whole satellite, and can receive a remote control instruction of the dynamics model control computer, and the working state and the working task operation information are adjusted according to the remote control instruction.
2. The semi-physical simulation system for multi-satellite cooperative tasks according to claim 1, wherein: in the wireless single unit assembly, the wireless single unit assembly is divided into a reaction flywheel wireless single unit, an optical fiber gyro wireless single unit and a star sensor wireless single unit according to different single unit types; and matching the single machine modules of different types according to different types of tasks to meet the simulation requirement.
3. The semi-physical simulation system for multi-satellite cooperative tasks according to claim 1, wherein: in the wireless single unit assembly, a corresponding wireless communication module is selected according to a communication mode of a satellite single unit.
4. A semi-physical simulation system for multi-satellite cooperative tasks according to claim 3, wherein: the wireless communication module comprises 422 a communication module and a CAN communication module.
5. The semi-physical simulation system for multi-satellite cooperative tasks according to claim 4, wherein: in the 422 communication module, a satellite single machine adopts a double-point double-line form, a 422 data frame comprises four parts of a frame start part, a data field, a check code and a frame end part, and single machine data is stored in the data field and transmitted along with a 422 communication protocol.
6. The semi-physical simulation system for multi-satellite cooperative tasks according to claim 4, wherein: in the CAN communication module, satellite single machine data are stored in an 8-bit data section and are transmitted along with a CAN communication protocol.
7. The semi-physical simulation system for multi-satellite cooperative tasks according to claim 1, wherein: parameters of a single Simulink dynamics simulation model which can be modified according to task requirements in the dynamics model control computer comprise a reaction flywheel rotating speed and a thruster switch.
8. The semi-physical simulation system for multi-satellite cooperative tasks according to claim 1, wherein: the single machine control instruction comprises a reaction flywheel rotating speed instruction and a thruster switch instruction; the response of the single machine comprises the triaxial output of the magnetometer and the triaxial angular rate of the fiber-optic gyroscope.
9. The semi-physical simulation system for multi-satellite cooperative tasks according to claim 1, wherein: the real-time response data of the wireless single machine component comprises flywheel rotating speed, attitude angular speed and attitude angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311679292.1A CN117706958A (en) | 2023-12-08 | 2023-12-08 | Semi-physical simulation system applied to multi-satellite cooperative tasks |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311679292.1A CN117706958A (en) | 2023-12-08 | 2023-12-08 | Semi-physical simulation system applied to multi-satellite cooperative tasks |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117706958A true CN117706958A (en) | 2024-03-15 |
Family
ID=90154562
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311679292.1A Pending CN117706958A (en) | 2023-12-08 | 2023-12-08 | Semi-physical simulation system applied to multi-satellite cooperative tasks |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117706958A (en) |
-
2023
- 2023-12-08 CN CN202311679292.1A patent/CN117706958A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8352641B2 (en) | Systems and methods for identifying fieldbus devices in a control system | |
| US7188059B2 (en) | System and method for operating software in a flight simulator environment | |
| CN110154029B (en) | Online control and simulation test system and method for robot based on LABVIEW | |
| CN105515911A (en) | Gateway automatic test system and method of CAN network | |
| KR100611098B1 (en) | Satellite simulation modeling system using Interface Model | |
| CN112214902B (en) | Real-time simulation system for attitude and orbit control and single-machine communication of satellite | |
| CN107222251B (en) | Method and system for interacting with remote measurement data of test base in satellite external field test | |
| CN116227112A (en) | Semi-physical simulation system and simulation method oriented to remote sensing satellite constellation system collaboration | |
| CN115390585A (en) | Attitude and orbit control digital twin system based on spacecraft cluster and construction method thereof | |
| CN117706958A (en) | Semi-physical simulation system applied to multi-satellite cooperative tasks | |
| KR20200062594A (en) | Operating method in debugging system for vehicle | |
| CN113885351A (en) | Simulation test equipment and method for satellite simulation test | |
| CN111103810B (en) | Spacecraft GNC system simulation test method based on prototype digital twins framework | |
| CN116225800A (en) | Test method and device based on test frame system and test frame system | |
| CN112097795B (en) | Method for high-speed diagnosis and low-speed transmission of fault of fiber-optic gyroscope | |
| CN117724358A (en) | Semi-physical simulation system applied to double-star maneuver around flight | |
| CN108880948A (en) | A kind of equipment test verifying system and method based on FC network | |
| CN107390549A (en) | CRH5 types car control logic analogue system and method | |
| CN211296735U (en) | Controller internal delay testing device | |
| CN108259130A (en) | The Modbus Transmission systems and method of a kind of baud rate even-odd check position adaptive | |
| CN112304653A (en) | Universal comprehensive test method and system for satellite test | |
| CN109861789A (en) | The assembly line telemetry batch processing system sent out fastly is remembered in a kind of adaptation slowly | |
| CN109672601B (en) | Rocket one-sublevel fault simulation system | |
| KR102579809B1 (en) | Apparatus for real-time storage | |
| CN117369308B (en) | Digital twinning-based robot hardware-in-loop real-time simulation control system and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |