CN100495261C - Half-physical emulation test system for controlling and guiding, navigating and controlling soft landing for moon - Google Patents
Half-physical emulation test system for controlling and guiding, navigating and controlling soft landing for moon Download PDFInfo
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Abstract
A semi-physical simulation testing system of moon soft-land guidance, navigation and control consists of a three-dimensional translation analog module, a three-dimensional turning analog module, a control computer, a simulation computer and a ground survey and master-control computer. The three-dimensional translation analog module and the three-dimensional turning analog module adopt a practicality modeling. Wherein, the three-dimensional translation analog module is used to imitate an orbit motion of a lander relative to the moon surface. A sand table of the moon surface is used to imitate ground features of the moon. The three-dimensional turning analog module is used to imitate an attitude motion of the lander. And other well-developed regular sensors, executing agencies, lander dynamics and kinematics can be replaced by accurate mathematical models built up by the computer. Compared with mathematical simulation, the system can make a GNC proposal and algorithm more effectively and truly verified. Compared with full-practicality analogue system, the system has advantages of low development costs and easy operation.
Description
Technical Field
The invention relates to a semi-physical simulation test system for guidance, navigation and control (GNC) of lunar soft landing, which can be used for verifying a GNC scheme and an algorithm of lunar soft landing.
Background
Apollo and Surveyor in the United states and Luna in Soviet Union realize the detection task of soft landing of the moon for a plurality of times in the sixty-seven decades of the twentieth century. In the twenty-first century, the world aerospace field raises the moon again to detect the climax, and how to design a set of moon soft landing guidance, navigation and control scheme and effectively verify the scheme becomes the key of success or failure of the moon soft landing. With the further development of mathematical simulation technology, most of the GNC algorithm of the earth satellite based on the conventional sensor can be effectively verified through mathematical simulation. For soft landing detection with moon as the center gravity, the gravity field and the surrounding environment, the navigation means, etc. are significantly different from the earth satellite. Therefore, it is considered that GNC schemes and algorithms are validated by semi-physical or full physical simulation systems. Bellman and Matrana designed a full-physical simulation verification system called LLRV (Lunar drawing Research vehicle) for Apollo project. The system provides 5/6 self gravity through a jet engine to simulate the gravity environment of the moon, and other thrust engines are used as soft landing brake engines to verify the GNC scheme of the final landing process of hundreds of meters or less. However, since the main task of the system is to provide a ground manual operation training platform for astronauts, many of the components, including the weight and thrust system, are different from the Apollo lunar chamber; obviously, this experimental system also differs from the autonomously implemented verification of the GNC protocol for soft landing of the moon. In terms of development costs, two LLRVs were currently up to $ 360 ten thousand, and in subsequent development of improved LLTV, three LLTVs were developed up to $ 750 ten thousand higher. The manufacture of the LLRV takes 14 months on the premise that critical technical challenges and project design have been completed. The japanese "lunar spirit" (selence and Engineering Explorer, SELENE) soft landing plan, which was expected to be launched in 2007, also employs a full physical flight verification platform (Fly Test Bed, FTB) to verify the GNC algorithm and hardware. The test system uses Apollo's LLRV scheme for reference, and simulates the gravity environment of the moon through a jet engine, and the verification range is also the final landing process which is less than hundreds of meters away from the moon surface. The test verifies three-dimensional imaging and translation obstacle avoidance control strategies in the hovering process without verification of navigation sensors such as distance measurement, speed measurement and IMU.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the system takes the most key external navigation sensor as a real part and is arranged in a control system loop, and other conventional sensors, execution mechanisms and lander dynamics and kinematics are replaced by mature mathematical models, so that the GNC scheme can be more truly and effectively verified while the development cost is reduced.
The technical solution of the invention is as follows: semi-physical simulation test system for guidance, navigation and control of lunar soft landing, which is characterized by comprising: three-dimensional translation simulation module, three-dimensional rotation simulation module, control computer 4, simulation computer 11 and ground test and total computer system 5, wherein:
the three-dimensional translation simulation module is used for simulating the earth surface characteristics of the moon and simulating the three-dimensional translation of the lander relative to the moon surface according to a control instruction sent by the ground test and master control computer system 5;
the three-dimensional rotation simulation module is used for simulating the flight attitude of the lander, working according to the power-on and power-off instruction transmitted by the control computer 4, measuring the six-degree-of-freedom motion of the lander, and acquiring the line-of-sight distance and speed information of the lander relative to the lunar surface, the attitude angle and attitude angular speed information of the lander and the three-dimensional image information of the lunar surface; transmitting the sight line distance, the speed of the lander relative to the lunar surface and three-dimensional image information of the lunar surface to a control computer 4, and simultaneously transmitting the attitude angle and the attitude angular speed information to a simulation computer 11; performing three-dimensional rotation according to a control instruction sent by the ground test and master control computer system 5;
the control computer 4 is used for receiving a remote control instruction sent by the ground test and master control computer system 5, controlling the three-dimensional rotation simulation module to work, acquiring distance, speed and image measurement information, acquiring specific force and gyro angular speed measurement information from the simulation computer 11, performing GNC calculation according to the measurement information, acquiring a propulsion system control instruction and transmitting the propulsion system control instruction to the simulation computer 11; the obtained measurement information and the calculated control information are used as telemetering data to be transmitted to a ground test and master control computer system 5;
the simulation computer 11 receives a remote control instruction sent by the ground test and master computer system 5, acquires attitude angle and attitude angular velocity information from the three-dimensional rotation simulation module, calculates the gyro angular velocity measurement information through a gyro measurement model, receives a propulsion system control instruction from the control computer 4, obtains specific force information, propulsion system parameters and position and attitude information through simulation calculation, transmits the specific force and gyro angular velocity measurement information to the control computer 4, and transmits the propulsion system parameters and position and attitude information to the ground test and master computer system 5;
the ground test and general control computer system 5 sends remote control instructions to the control computer 4 and the simulation computer 11, receives telemetering data from the control computer 4 and performs data storage, sharing and real-time display, receives propulsion system parameters and position and attitude information from the simulation computer 11, gives translation and rotation control instructions according to the position and attitude information, and controls the three-dimensional translation simulation module and the three-dimensional rotation simulation module to move as required.
The three-dimensional translation simulation module consists of a landing lunar surface simulator and a three-dimensional translation motion device 3; the landing lunar surface simulator comprises a light ray simulator 1 and a lunar surface sand disc screen 2, wherein the light ray simulator 1 is used for simulating the illumination condition of the lunar surface, the lunar surface sand disc screen 2 is used for simulating the surface characteristics of the lunar surface, and the landing lunar surface simulator is arranged on the three-dimensional translational motion device 3.
The three-dimensional rotation simulation module consists of an external navigation sensor and a three-axis mechanical turntable 10, the external navigation sensor comprises a distance and speed measuring target simulator 6, a distance measuring instrument 7, a speed measuring instrument 8 and a laser imaging sensor 9, the distance and speed measuring target simulator 6 is used for receiving wave beams of the distance measuring instrument 6 and the speed measuring instrument 7, returning the wave beams to the distance measuring instrument 6 and the speed measuring instrument 7 after delay and Doppler translation, and the laser imaging sensor 9 is used for carrying out three-dimensional imaging on the lunar surface sand disc screen 2; the external navigation sensor is arranged on the three-axis mechanical turntable 10, and the flight attitude of the lander is simulated by controlling the motion of the three-axis mechanical turntable 10.
The control computer 4 receives an instruction of a ground test and general control computer system 5, controls an external navigation sensor in a three-dimensional rotation simulation module to work, measures by a distance meter 7, a speed meter 8 and a distance and speed measurement target simulator 6 to obtain the real line-of-sight distance and speed information of the lander relative to the lunar surface, three-dimensionally images the lunar surface sand disc screen 2 by a laser imaging sensor 9 to obtain the three-dimensional image information of the lunar surface, simultaneously obtains specific force and gyro angular speed measurement information from a simulation computer 11 by the control computer 4, and performs navigation calculation by adopting a GNC algorithm according to the distance, speed, image, specific force and gyro angular speed information to obtain a propulsion system control instruction and transmits the propulsion system control instruction to the simulation computer 11; the obtained measurement information and the calculated control information are used as telemetering data to be transmitted to a ground test and master control computer system 5; .
The GNC algorithm comprises an autonomous navigation module, a track guidance module and an attitude control module; the autonomous navigation module receives specific force and gyro angular velocity measurement information transmitted by the simulation computer 11, obtains six-degree-of-freedom information of the position, speed, attitude and attitude angular velocity of the lander after inertial navigation calculation, transmits the six-degree-of-freedom information to the trajectory guidance module, transmits the attitude and attitude angular velocity information to the attitude control module, receives the line-of-sight distance, speed and lunar surface image information measured by an external navigation sensor in the three-dimensional rotation simulation module, respectively performs height calculation, speed calculation and landing area selection calculation on the measurement information, and transmits the calculation result to the trajectory guidance module; the track guidance module receives information obtained by the autonomous navigation module through inertial navigation calculation, height and speed calculation and landing area selection calculation, and selects a guidance mode according to a computer instruction to perform corresponding guidance law calculation; the attitude control module receives attitude and attitude angular velocity information which is transmitted from the autonomous navigation module and is obtained by inertial navigation calculation, and performs attitude control law calculation according to different attitude control requirements; and obtaining a propulsion system control instruction for controlling the track and the attitude according to the calculation result of the guidance control law in the track guidance module and the attitude control module.
The guidance mode of the track guidance module comprises a gravity turning nominal track guidance mode, a variable thrust guidance mode, a Bang-Bang and phase plane guidance mode and a nominal track guidance mode.
The attitude control mode of the attitude control module adopts phase plane control.
The simulation computer 11 receives a remote control instruction of the ground test and general control computer system 5, acquires attitude angle and attitude angular velocity information from the three-axis mechanical turntable 10, and obtains angular velocity measurement information of the simulation gyroscope after calculation by a dynamics and kinematics simulation model; the simulation computer 11 also receives a propulsion system control instruction from the control computer 4, obtains propulsion system parameters and position and attitude information of the lander after the calculation of a dynamics and kinematics simulation model, and also can obtain specific force measurement information; the simulation computer 11 transmits the specific force and gyro angular velocity measurement information to the control computer 4, and transmits the propulsion system parameters and position and attitude information to the ground test and master control computer system 5.
The dynamics and kinematics simulation model comprises an execution mechanism mathematical model, a dynamics and kinematics model, an orbit scaling calculation model and a conventional sensor measurement model. The mathematical model of the actuating mechanism receives the control command of the propulsion system given by the control computer 4, obtains the parameters of the propulsion system after simulation calculation and transmits the parameters to the dynamics and kinematics model and the ground test and master control computer system 5; combining the dynamics and kinematics model with the parameters of a propulsion system, calculating to obtain six-degree-of-freedom information of the position, the speed, the attitude angle and the attitude angular speed of the lander, transmitting the six-degree-of-freedom information to a ground test and master control computer system 5, and simultaneously transmitting the position and speed information to an orbit scaling calculation model and a conventional sensor measurement model; after the track scale calculation model carries out scale calculation on the position and speed information, the scaled position and speed information is transmitted to a ground test and master control computer system 5; the conventional sensor measurement model receives the position and speed information given by the dynamics and kinematics model, the specific force measurement information is obtained after calculation by the accelerometer measurement model, meanwhile, the conventional sensor measurement model also receives the attitude angle and attitude angular speed information given by the three-axis mechanical turntable 10, the gyroscope angular speed measurement information is obtained through calculation by the gyroscope measurement model, and the specific force and gyroscope angular speed measurement information is transmitted to the control computer 4.
Compared with the prior art, the invention has the following advantages:
(1) compared with mathematical simulation, the method has the advantages that the key components such as external navigation sensors including distance measurement, speed measurement and imaging are real, and the three-dimensional translation and three-dimensional rotation of the lander relative to the lunar surface are effectively simulated, so that the GNC algorithm verification in the soft landing process is more comprehensive and effective;
(2) compared with full-physical simulation, the dynamic kinematics calculation of mature conventional sensors, actuating mechanisms, landers and the like is replaced by accurate mathematical models, and the method is simpler and easier than full-physical simulation;
(3) an imaging sensor is added to carry out three-dimensional high-resolution imaging on the lunar surface, and a foundation is laid for safe obstacle avoidance and landing of the lander.
Drawings
FIG. 1 is a block diagram of the system components of the present invention;
FIG. 2 is a diagram of the size of a lunar surface sand table screen and a lunar surface simulation diagram according to the present invention;
FIG. 3 is a diagram of a three-dimensional translational motion device of the present invention;
FIG. 4 is a flow chart of the GNC algorithm data of the control computer of the present invention;
FIG. 5 is a flow chart of simulation computer simulation model data of the present invention.
Detailed Description
First, the specific design and implementation of key components
(1) Three-axis mechanical turret 10
The three-axis mechanical rotary table 10 is used for simulating three-axis attitude motion of the lander, and attitude angle and attitude angular velocity information of the rotary table motion are calculated by a gyro measurement model in the simulation computer 11 and then the attitude output of the simulation gyro is simulated. The embodiment of the invention utilizes the existing France import three-axis mechanical turntable of the unit.
(2) External navigation sensor
The external navigation sensor comprises a distance measuring and speed measuring target simulator 6, a distance measuring instrument 7, a speed measuring instrument 8 and a laser imaging sensor 9.
Because of the limitation of the space of the simulation laboratory, the distance measuring instrument 7 and the speed measuring instrument 8 cannot directly measure the lunar surface sand disc screen. The invention receives radar wave beams sent by a distance meter 7 and a speed meter 8 by adding a distance and speed measuring target simulator 6, and sends the radar wave beams to the distance meter 7 and the speed meter 8 after time delay and Doppler translation processing, thereby completing corresponding distance and speed measurement. The distance and speed measuring target simulator 6 is arranged according to the installation requirements of the distance measuring instrument 7 and the speed measuring instrument 8.
The laser imaging sensor 9 is mainly used for imaging the lunar surface when suspending 100m from the lunar surface.
The embodiment of the invention adopts an external navigation sensor combination scheme of microwave distance measurement and speed measurement and laser radar imaging, and adopts a scaling ratio of 1:10 during imaging, namely three-dimensional high-resolution imaging is carried out on the lunar surface sand disc screen 2 at a position of 10 m.
(3) Lunar surface sand plate screen 2
The lunar surface sand disc screen 2 is mainly used for providing simulated landing lunar surface characteristic information for the laser imaging sensor 9. The basis of the size design is as follows: the imaging range is as large as possible, the imaging range before translation is as consistent as possible with the imaging range after translation, and the translation space is as large as possible.
The field of view of the imaging sensor is 30 ° × 30 °, and the area of the moon covered by the image at 100m is 53.6 × 53.6 m. The embodiment of the invention adopts a scaling ratio of 1:10, and the size of the lunar surface sand disc screen 2 covered by imaging is 5.36m multiplied by 5.36 m. If the optical axis of the imaging sensor is positioned at the center of the table top of the turntable, the imaging sensor can form a complete three-dimensional image within 2.68m of the optical axis at the height of 10 m. With the size setting shown in fig. 2, the requirements of not less than 2.68m are met in the left direction and the right direction before and after translation, and a complete left image and a complete right image can be formed; upward, roll the sand table screen through the mode of roller bearing, can guarantee its upper and lower size unchangeable under the prerequisite of simulation sand table screen translation from top to bottom, consequently the top size also satisfies the requirement that is not less than 2.68 m. At present, only the size below the sand table screen is difficult to meet the requirement due to the limitation of a field, but the information obtained by a control system from three-dimensional imaging is not influenced.
The sand table is set to translate downwards rightwards, the translation distance to the right is 1.5 meters, the translation distance to the downwards is 1 meter, and translation control in two directions can be carried out simultaneously.
(4) Three-dimensional translational motion device 3
In the invention, the translation motion of the lander relative to the lunar surface in actual flight is simulated by the translation motion of the lunar surface sand disc screen 2 relative to the three-axis mechanical turntable 10. This three-dimensional translation is achieved by means of a three-dimensional translation movement device 3.
In the embodiment of the present invention, the three-dimensional translational motion device 3 will take the form of a guide rail. As shown in fig. 3, two longitudinal rails of about 15m are laid in the axial direction of the turntable, a transverse rail of about 10m is laid on the longitudinal rails, and vertical descent of the lander with respect to the moon surface is simulated by moving the transverse rails forward and backward on the longitudinal rails. The lunar surface sand disc screen 2 is positioned on the transverse guide rail and can move left and right along the transverse guide rail so as to simulate one-dimensional motion in an actual horizontal plane; translation in the other direction in the horizontal plane can be achieved by rollers below the lunar sand table screen 2.
(5) Control computer 4 and GNC algorithm
The control computer 4 is a core device of the lunar soft landing GNC semi-physical simulation test system. The control computer 4 executes the GNC algorithm and, in cooperation with other devices, should have guidance, navigation and control functions. The control computer 4 is moved from the turret to the surface, taking into account the weight and volume constraints of the payload imposed by the three-axis turret. In the embodiment of the invention, the control computer 4 is replaced by an industrial personal computer.
The GNC algorithm is an application program running on the control computer 4, and should have the following operation modes and functions: the control method comprises a gravity turning and nominal track guidance mode of an attitude adjusting section, a nominal track guidance mode of a landing section, a variable thrust guidance mode of a hovering process, landing area selection, translation track control, attitude tracking, stability control and the like.
The GNC algorithm data flow of an embodiment of the present invention is shown in fig. 4. The system comprises an autonomous navigation module, a track guidance module and an attitude control module. The autonomous navigation module receives specific force and gyro angular velocity measurement information transmitted by the simulation computer 11, obtains six-degree-of-freedom information of the position, speed, attitude and attitude angular velocity of the lander after inertial navigation calculation, transmits the six-degree-of-freedom information to the trajectory guidance module, transmits the attitude and attitude angular velocity information to the attitude control module, receives the line-of-sight distance, speed and lunar surface image information measured by an external navigation sensor in the three-dimensional rotation simulation module, respectively performs height calculation, speed calculation and landing area selection calculation on the measurement information, and transmits the calculation result to the trajectory guidance module; the track guidance module receives information obtained by the autonomous navigation module through inertial navigation calculation, height and speed calculation and landing area selection calculation, and selects a guidance mode according to a computer instruction to perform corresponding guidance law calculation; the attitude control module receives attitude and attitude angular velocity information which is transmitted from the autonomous navigation module and is obtained by inertial navigation calculation, and performs attitude control law calculation according to different attitude control requirements; and obtaining a propulsion system control instruction for controlling the track and the attitude according to the calculation result of the guidance control law in the track guidance module and the attitude control module.
The inertial navigation calculation formula adopted by the embodiment of the invention is as follows:
(a) attitude and attitude angular velocity calculation
Wherein,
and
four-element representations (vector part and scalar part) of the calculated lander body attitude angular velocity vector and attitude angle respectively;
angular velocity is measured for the gyroscope. The calculation ignores the lunar rotation angular velocity.
(b) Position and velocity calculation
Wherein,
respectively calculating the position and the velocity vector of the lander relative to the lunar surface;
a specific force vector measured for the accelerometer; the matrix A is a coordinate transformation matrix from a body system to a lunar flat system, and the variable of the matrix A is
Vector and scalar parts, respectively, of the pose four elements, the same as the representation in the "pose and pose angular velocity calculation"; gmIs the lunar surface gravity acceleration vector.
The height calculation formula adopted by the embodiment of the invention is as follows:
wherein,
an estimate of the lander height above the lunar surface; v and S are respectively the volume and the bottom surface (on the lunar surface) area of a hexahedron formed by three beams of the range finder and the lunar surface;
the vectors of the three beams are respectively non-coplanar, wherein the superscript b represents that the vectors indicate that the sight lengths of the three beams can be directly measured by the distance measuring instrument under the landing instrument body coordinate system, and the angle relation of the beams under the landing instrument body system is known.
The speed resolving formula adopted by the embodiment of the invention is as follows:
wherein,<·>represents the dot product of two vectors; the subscript i denotes the radar beam (i ═ 1, 2, 3); superscript b and vector
The meaning of (1) is the same as that in the height calculation of the distance meter; v. ofbRepresenting the velocity vector of the lander relative to the lunar surface, as unknown;indicating the resultant velocity v measured by a tachometerbThe velocity component in the direction of beam i is known. The measured values of the three radar beams are respectively substituted into the above formula to form an equation set, and the combined speed can be obtained by solving the equation set.
The method for selecting the landing area in the embodiment of the invention comprises the following steps:
the lunar surface imaging sensor can give the height information of each point of the lunar surface landing area in one-time imaging. Assuming that the lunar surface area occupied by the lander after landing is S, the initial scheme of landing area selection is as follows: and performing counterclockwise (clockwise) search by taking S as a unit and taking the current landing point as a starting point. For each S-sized area, whether the landing condition, namely the height of the bulge in the landing area and the gradient of the landing area, meets the requirement is judged until a safe landing area is searched.
The guidance control law working mode and the calculation formula adopted by the embodiment of the invention are as follows:
(a) attitude adjustment segment-gravity turn nominal trajectory guidance
Wherein u isFcA weight-reducing ratio guidance instruction is given to the main engine; h, the content of the active carbon is shown in the specification,
respectively representing the height from the moon surface and the vertical speed of the actual flight; h isD，Respectively representing landings in nominal trajectoriesA nominal altitude, a nominal vertical velocity, and a vertical acceleration component of the machine; v is the magnitude of resultant velocity; psi is the included angle between the descending speed direction and the local vertical line direction; k is a radical ofp，kdProportional and differential coefficients, respectively; τ is a given small constant; gmIs the lunar surface gravitational acceleration.
(b) Hovering translation process: vertical direction-variable thrust guidance; horizontal-Bang + phase plane guidance
In the vertical direction, the main thrust engine is controlled to ensure that the thrust of the main thrust engine is always equal to the gravity of the landing gear in magnitude and opposite in direction; in the horizontal direction, a positive and negative switch control strategy of firstly accelerating and then decelerating is adopted by the translational thruster, and when the translational thruster approaches a target position, the control strategy is switched to a phase plane control strategy related to the position and the speed. Under the phase plane control strategy, the translational thruster has only three states of positive opening, negative opening and closing, so that four switching lines (two opening lines and two closing lines) are formed on the position and speed phase plane, the phase plane is divided into four areas, and the control computer switches the translational thruster according to different areas of the phase plane where the lander is located, so that the landing device is controlled to approach a target point.
(c) Final landing leg-nominal trajectory guidance
The parameters in the above formula have the same meanings as in (a).
The final landing segment guidance mode is a special case of the attitude adjustment segment guidance mode, namely psi is required to be 0 on the basis of the attitude adjustment segment guidance law, which means that the lander descends along the vertical direction.
(d) Attitude control mode-three-axis attitude-stabilized phase plane control
In the embodiment of the invention, attitude control below 150m from the lunar surface adopts a phase plane control strategy related to an attitude angle and an attitude angular velocity. This phase plane control strategy is similar to the position-velocity phase plane control strategy in (b) above. The thruster for attitude control only has three states of positive opening, negative opening and closing, so that four switching lines (two opening lines and two closing lines) are formed on an attitude angle and attitude angular velocity phase plane, the phase plane is divided into four areas, and the control computer switches the attitude control thruster according to different areas of the phase plane where the lander is located, so that the attitude of the lander is controlled to be stabilized near a nominal attitude.
(6) Simulation computer 11 and dynamics and kinematics simulation model
The simulation computer 11 is mainly responsible for tasks such as track and attitude dynamics and kinematics simulation, and specifically has the following functions: performing dynamic and kinematic simulation of the orbit and attitude of the lander in the descending process; performing mathematical simulation on conventional sensors such as IMU (inertial measurement Unit); performing mathematical simulation on actuating mechanisms such as a propulsion system and the like; calculating the orbital motion scaling; and sharing resources with a ground test and general control computer. In the embodiment of the present invention, the simulation computer 11 is a high-performance PC.
The function of the simulation computer 11 is completed by a dynamics and kinematics simulation model, which includes a track/attitude dynamics and kinematics model, an IMU measurement model, an actuator (including a main thrust engine, a translational thruster and an attitude control thruster) mathematical model, a track scale calculation model, and the like.
The data flow of the dynamics and kinematics simulation model according to the embodiment of the present invention is shown in fig. 5. The system comprises an actuating mechanism mathematical model, a dynamics and kinematics model, an orbit scaling calculation model and a conventional sensor measurement model; the mathematical model of the actuating mechanism receives the control command of the propulsion system given by the control computer 4, obtains the parameters of the propulsion system after simulation calculation and transmits the parameters to the dynamics and kinematics model and the ground test and master control computer system 5; combining the dynamics and kinematics model with the parameters of a propulsion system, calculating to obtain six-degree-of-freedom information of the position, the speed, the attitude angle and the attitude angular speed of the lander, transmitting the six-degree-of-freedom information to a ground test and master control computer system 5, and simultaneously transmitting the position and speed information to a track scale calculation model and a conventional sensor measurement model; after the track scale calculation model carries out scale calculation on the position and speed information, the scaled position and speed information is transmitted to a ground test and master control computer system 5; the conventional sensor measurement model receives the position and speed information given by the dynamics and kinematics model, the specific force measurement information is obtained after calculation by the accelerometer measurement model, meanwhile, the conventional sensor measurement model also receives the attitude angle and attitude angular speed information given by the three-axis mechanical turntable 10, the gyroscope angular speed measurement information is obtained through calculation by the gyroscope measurement model, and the specific force and gyroscope angular speed measurement information is transmitted to the control computer 4.
The execution mechanism model adopted by the embodiment of the invention is as follows:
(a) attitude control thruster model
Neglecting the opening and closing delays of the thrusters, a simple model can be used in the simulation as follows:
Fatti(t)＝F0atti[I(t)-I(t-T)]
wherein, Fatti(t) represents the actual output of the attitude control thruster; f0attiThe nominal thrust of the attitude control thruster is represented; i (-) represents a step function, and T is the time width of the jet command pulse.
(b) Rail-controlled variable-thrust engine model
Neglecting the opening and closing delay of the thruster, considering the control precision of the thruster with larger influence, the following simple model can be adopted during simulation:
Fobt(t)＝(1+δ)F0obt
wherein, Fobt(t) represents the actual output of the rail-controlled engine; f0obtIndicating the nominal thrust of the rail-controlled engine; and delta is the thrust control precision of the rail-controlled engine.
The dynamics and kinematics model adopted by the embodiment of the invention is as follows:
(a) gyro measurement model
Wherein,
measuring angular velocity for a gyroscope；ωrThe actual attitude angular velocity of the lander is obtained through calculation by an attitude kinematics model in a simulation test; omega0，ω1The constant drift and the random drift of the gyroscope are respectively used, and the calibration can be carried out.
(b) Accelerometer measurement model
Wherein,
a specific force value measured for the accelerometer; f. ofrActual specific force of the lander; k is the scale factor error;
is the zero offset of the accelerometer; and w is measurement noise.
The dynamics and kinematics model adopted by the embodiment of the invention is as follows:
(a) orbit dynamics model
Wherein, mum，μe，μsRespectively as gravitational constants of moon, earth and sun; deltae＝r-re，Δs＝r-rs，r、reAnd rsThe radii from the center of mass of the lander to the center of the moon, from the center of the moon to the geocentric, and from the center of the moon to the centroid, respectively. The first item F on the right side is the active braking force of the propulsion system, the second item is the central gravity of the moon, the third item is the non-spherical gravity perturbation of the moon, and the fourth item and the fifth item are the gravity perturbation of the earth and the sun respectively. These terms are the main sources of activeness for a near-moon spacecraft flight. f is other external perturbation force except the three perturbation forces.
(b) Orbital kinematics model
(c) Attitude dynamics model
Wherein I is a rotational inertia matrix of the lander, omega is an attitude angular velocity vector of the lander in an inertial space, and TcAnd TdRespectively a control moment and a disturbance moment. In the present invention, TcMainly referred to as jet torque, TdIncluding jet disturbance moment, gravity gradient moment, solar radiation pressure moment, etc.
The attitude dynamics model is the simplest rigid body model. With the present invention, the effect of liquid sloshing on the attitude of the lander should be fully considered, since the fuel consumption is relatively large.
(d) Attitude kinematics model
The above formula is a lander attitude kinematics equation represented by four elements. Wherein, ω isbThe attitude angular velocity vector of the lander in the body coordinate system has the following relation with omega in 3): omega-omegab+ωoHere ω isoThe angular velocity vector of the landing gear's descent trajectory in the inertial system is indicated. Epsilon and eta represent the vector and scalar portions of the four elements respectively,
wherein, a andrespectively the euler axis and euler angle for rotation of the coordinate system.
(7) Ground test and master control computer system 5
The ground test and general control computer system 5 is used for management, data acquisition, processing and control of the test system, and the system forms a computer network and can complete display, storage and management of data. In the embodiment of the invention, the ground test and master control computer system 5 is replaced by a high-performance PC. The ground test and general control computer software is installed on each node PC of the computer network, and the following functions are realized in the form of configuration modules: managing and controlling the test system; collecting, processing, storing and displaying test data in real time; sharing resources with the simulation computer 11.
Second, the working process
The working process of the invention is as follows:
(1) at the initial moment, the three-dimensional translational motion device 3 has a certain initial relative position and speed, and the three-axis mechanical turntable 10 has a certain initial attitude angle and attitude angular speed, which are used for simulating the relative position and attitude information of the lander;
(2) the control computer 4 starts a distance meter 7, a speed meter 8 and a distance and speed measuring target simulator 6 according to a remote control instruction of the ground test and master control computer system 5, and simultaneously starts a laser imaging sensor 9;
(b) the distance and speed information of the lander relative to the lunar surface are measured by a distance meter 7, a velocimeter 8 and a distance and speed measuring target simulator 6, and the laser imaging sensor 9 is used for carrying out three-dimensional imaging on the lunar surface sand disc screen 2 to obtain three-dimensional image information;
(c) the simulation computer 11 gives attitude angular velocity measurement information of the lander by a simulation gyroscope after calculating through a gyroscope measurement model which is one of conventional sensor measurement models according to the current attitude angle and the attitude angular velocity information given by the three-axis mechanical turntable 10;
(d) calculating to obtain specific force measurement information of the lander by using an accelerometer measurement model which is one of conventional sensor measurement models in the simulation computer 11;
(e) transmitting the distance, speed, image, specific force and attitude angular speed measurement information to the control computer 4;
(3) the control computer 4 finally obtains a main thrust guidance instruction (main engine thrust-weight ratio), a landing area selection instruction (translation direction), a translation thruster guidance instruction (translation thruster working time) and an attitude stabilization control instruction (attitude control thruster working time) through corresponding navigation, guidance and control calculation according to the transmitted distance, speed, image, specific force and attitude angular speed measurement information, and transmits the propulsion system control instruction to the simulation computer 11;
(4) according to a propulsion system control instruction given by the control computer 4, the simulation computer 11 starts to perform dynamics and kinematics calculation and conventional sensor navigation calculation of the lander to obtain six-degree-of-freedom information of the position, speed, attitude angle and attitude angular speed of the lander at the next moment, then performs scaling calculation on the six-degree-of-freedom information, and transmits the position and attitude information before and after scaling to the ground test and master control computer system 5 for data storage, sharing and real-time display;
(5) according to the position and posture information transmitted by the simulation computer 11, the ground test and master control computer system 5 respectively transmits the position and speed control instruction after scaling and the angle and angular speed control instruction to the three-dimensional translational motion device 3 and the three-axis mechanical turntable 10 to drive the two devices to move according to respective instructions, and simultaneously, the ground test and master control computer system 5 also transmits the position and speed control instruction before scaling to the distance and speed measurement target simulator 6 for distance and speed measurement at the next moment;
(6) and (5) repeating the steps from (2) to (5) in the next control period, thereby forming a closed-loop GNC semi-physical simulation test system.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.
Claims (9)
1. Semi-physical simulation test system for guidance, navigation and control of lunar soft landing, which is characterized by comprising: three-dimensional translation simulation module, three-dimensional rotation simulation module, control computer (4), emulation computer (11) and ground test and general control computer system (5), wherein:
the three-dimensional translation simulation module is used for simulating the earth surface characteristics of the moon and simulating the three-dimensional translation of the lander relative to the moon surface according to a control instruction sent by the ground test and master control computer system (5);
the three-dimensional rotation simulation module is used for simulating the flight attitude of the lander, working according to an on-off command transmitted by the control computer (4), measuring the six-degree-of-freedom motion of the lander, and acquiring the line-of-sight distance and speed information of the lander relative to the lunar surface, the attitude angle and attitude angular speed information of the lander and the three-dimensional image information of the lunar surface; transmitting the sight line distance, the speed of the lander relative to the lunar surface and three-dimensional image information of the lunar surface to a control computer (4), and simultaneously transmitting the attitude angle and the attitude angular speed information to a simulation computer (11); performing three-dimensional rotation according to a control instruction sent by a ground test and master control computer system (5);
the control computer (4) is used for receiving a remote control instruction sent by the ground test and general control computer system (5), controlling the three-dimensional rotation simulation module to work and acquiring distance, speed and image measurement information, acquiring specific force and gyro angular speed measurement information from the simulation computer (11), performing GNC calculation according to the measurement information, acquiring a propulsion system control instruction and transmitting the propulsion system control instruction to the simulation computer (11); the obtained measurement information and the calculated control information are used as telemetering data to be transmitted to a ground test and master control computer system (5);
the simulation computer (11) receives a remote control instruction sent by the ground test and master control computer system (5), acquires attitude angle and attitude angular velocity information from the three-dimensional rotation simulation module, calculates gyroscope angular velocity measurement information through a gyroscope measurement model, receives a propulsion system control instruction from the control computer (4), calculates specific force information, propulsion system parameters and position attitude information through simulation, transmits the specific force and gyroscope angular velocity measurement information to the control computer (4), and transmits the propulsion system parameters and the position attitude information to the ground test and master control computer system (5);
the ground test and general control computer system (5) sends remote control instructions to the control computer (4) and the simulation computer (11), receives telemetering data from the control computer (4) and performs data storage, sharing and real-time display, receives propulsion system parameters and position and attitude information from the simulation computer (11), gives translation and rotation control instructions according to the position and attitude information, and controls the three-dimensional translation simulation module and the three-dimensional rotation simulation module to move as required.
2. The semi-physical simulation test system for guidance, navigation and control of a lunar soft landing according to claim 1, wherein: the three-dimensional translation simulation module consists of a landing lunar surface simulator and a three-dimensional translation motion device (3); the landing lunar surface simulator comprises a light ray simulator (1) and a lunar surface sand table screen (2), wherein the light ray simulator (1) is used for simulating the illumination condition of the lunar surface, the lunar surface sand table screen (2) is used for simulating the surface characteristics of the lunar surface, and the landing lunar surface simulator is arranged on the three-dimensional translational motion device (3).
3. The semi-physical simulation test system for guidance, navigation and control of a lunar soft landing according to claim 1, wherein: the three-dimensional rotation simulation module consists of an external navigation sensor and a three-axis mechanical turntable (10), the external navigation sensor comprises a distance and speed measuring target simulator (6), a distance measuring instrument (7), a speed measuring instrument (8) and a laser imaging sensor (9), the distance and speed measuring target simulator (6) is used for receiving wave beams of the distance measuring instrument (6) and the speed measuring instrument (7) and returning the wave beams to the distance measuring instrument (6) and the speed measuring instrument (7) after delay and Doppler translation, and the laser imaging sensor (9) is used for three-dimensionally imaging the lunar surface sand table screen (2); the external navigation sensor is arranged on the three-axis mechanical turntable (10), and the flight attitude of the lander is simulated by controlling the motion of the three-axis mechanical turntable (10).
4. The semi-physical simulation test system for guidance, navigation and control of a lunar soft landing according to claim 1, wherein: the control computer (4) receives an instruction of a ground test and general control computer system (5), controls an external navigation sensor in a three-dimensional rotation simulation module to work, measures by a distance meter (7), a speed meter (8) and a distance and speed measurement target simulator (6) to obtain the real line-of-sight distance and speed information of the lander relative to the lunar surface, three-dimensionally images the lunar surface sand plate screen (2) by a laser imaging sensor (9) to obtain the three-dimensional image information of the lunar surface, simultaneously obtains specific force and gyro angular speed measurement information from the simulation computer (11), performs navigation calculation by adopting a GNC algorithm according to the distance, speed, image, specific force and gyro angular speed information to obtain a propulsion system control instruction and transmits the propulsion system control instruction to the simulation computer (11); the obtained measurement information and the calculated control information are used as telemetering data to be transmitted to a ground test and master control computer system (5); .
5. The semi-physical simulation test system for guidance, navigation and control of a lunar soft landing according to claim 4, wherein: the GNC algorithm comprises an autonomous navigation module, a track guidance module and an attitude control module; the autonomous navigation module receives specific force and gyro angular velocity measurement information transmitted by the simulation computer (11), obtains position, speed, attitude and attitude angular velocity six-degree-of-freedom information of the lander after inertial navigation calculation, transmits the six-degree-of-freedom information to the trajectory guidance module, transmits the attitude and attitude angular velocity information to the attitude control module, simultaneously receives a line-of-sight distance, speed and lunar surface image information measured by an external navigation sensor in the three-dimensional rotation simulation module, respectively performs height calculation, speed calculation and landing area selection calculation on the measurement information, and transmits the calculation result to the trajectory guidance module; the track guidance module receives information obtained by the autonomous navigation module through inertial navigation calculation, height and speed calculation and landing area selection calculation, and selects a guidance mode according to a computer instruction to perform corresponding guidance law calculation; the attitude control module receives attitude and attitude angular velocity information which is transmitted from the autonomous navigation module and is obtained by inertial navigation calculation, and performs attitude control law calculation according to different attitude control requirements; and obtaining a propulsion system control instruction for controlling the track and the attitude according to the calculation result of the guidance control law in the track guidance module and the attitude control module.
6. The semi-physical simulation test system for guidance, navigation and control of a lunar soft landing according to claim 5, wherein: the guidance mode of the track guidance module comprises a gravity turning nominal track guidance mode, a variable thrust guidance mode, a Bang-Bang and phase plane guidance mode and a nominal track guidance mode.
7. The semi-physical simulation test system for guidance, navigation and control of a lunar soft landing according to claim 5, wherein: the attitude control mode of the attitude control module adopts phase plane control.
8. The semi-physical simulation test system for guidance, navigation and control of a lunar soft landing according to claim 1, wherein: the simulation computer (11) receives a remote control command of the ground test and general control computer system (5), acquires attitude angle and attitude angular velocity information from the three-axis mechanical turntable (10), and obtains angular velocity measurement information of the simulation gyroscope after the calculation of a dynamics and kinematics simulation model; the simulation computer (11) also receives a control instruction of the propulsion system from the control computer (4), and obtains parameters of the propulsion system and position and attitude information of the lander after the calculation of a dynamics and kinematics simulation model, and meanwhile, can also obtain specific force measurement information; and the simulation computer (11) transmits the specific force and gyro angular velocity measurement information to the control computer (4), and transmits the propulsion system parameters and the position and attitude information to the ground test and master control computer system (5).
9. The semi-physical simulation test system for guidance, navigation and control of a lunar soft landing according to claim 8, wherein: the dynamics and kinematics simulation model comprises an execution mechanism mathematical model, a dynamics and kinematics model, an orbit scaling calculation model and a conventional sensor measurement model. The mathematical model of the actuating mechanism receives a control instruction of the propulsion system given by the control computer (4), obtains parameters of the propulsion system after simulation calculation and transmits the parameters to the dynamics and kinematics model and the ground test and general control computer system (5); combining the dynamics and kinematics model with the parameters of a propulsion system, calculating to obtain six-degree-of-freedom information of the position, the speed, the attitude angle and the attitude angular speed of the lander, transmitting the six-degree-of-freedom information to a ground test and general control computer system (5), and simultaneously transmitting the position and speed information to a track scale calculation model and a conventional sensor measurement model; after the track scale calculation model carries out scale calculation on the position and speed information, the scaled position and speed information is transmitted to a ground test and master control computer system (5); the conventional sensor measurement model receives position and speed information given by the dynamics and kinematics model, specific force measurement information is obtained after calculation of the accelerometer measurement model, meanwhile, the conventional sensor measurement model also receives attitude angle and attitude angular speed information given by the three-axis mechanical turntable (10), gyro angular speed measurement information is obtained through calculation of the gyro measurement model, and the specific force and gyro angular speed measurement information is transmitted to the control computer (4).
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