CN101739031A - Small satellite attitude control ground simulating device and method - Google Patents
Small satellite attitude control ground simulating device and method Download PDFInfo
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Abstract
The invention discloses small satellite attitude control ground simulating device and method. The small satellite attitude control ground simulating device mainly comprises a simulation support module and a satellite tested module, wherein the simulation support module comprises a simulation computer, an embedded processor and a field programmable gate array; the satellite tested module comprises an attitude control processor, measuring parts and executing parts; the simulation computer, the embedded processor and the field programmable gate array are sequentially connected; and the attitude control processor, all measuring parts and all executing parts are respectively connected with the field programmable gate array. The invention is suitable for the simulation requirements of satellites in various models, simultaneously meets various ways of semi-physical simulation requirement, has simpler development and maintenance of simulation computer software, more flexible and convenient operation of the simulation process and the analysis of a simulation result, simple realization and low cost and greatly shortens the development time and development cost of the satellite attitude control ground simulating device.
Description
Technical field
The present invention relates to the satellite attitude control system field tests, relate in particular to a kind of ground simulating device that is used for the test of small satellite attitude control system.
Background technology
Attitude control system is one of subsystem that complexity is the highest in the design of satellites.In the development process of ground, owing to lack the real space environment, attitude control system can't directly be tested, and can only carry out emulation.Satellite attitude control system emulation is divided into three kinds of mathematical simulations, semi-physical simulation, full physical simulation.For the moonlet development,,, generally seldom adopt because cost is too high based on the full physical simulation of air floating table.Mathematical simulation and semi-physical simulation are the main simulation means of small satellite attitude control system.
Mathematical simulation is a kind of emulation mode of system being carried out the quantitative examination experiment by microcomputer modelling.Semi-physical simulation is a kind of closed circuit dynamic simulation experiment that the part or all of hardware of control system is inserted the loop in emulation.Mathematical simulation economy, convenience, flexible, semi-physical simulation then has higher degree of confidence.At present, the satellite attitude control system mathematical simulation adopts PC as simulation computer usually, adopts Windows operating system simultaneously, and professional simulation softwares such as Matlab, STK.The dedicated emulated computing machine with real time operating system is then mostly adopted in semi-physical simulation, and needs to use the dedicated emulated softwares of language compilation such as FORTAN, C, PASCAL.In addition, semi-physical simulation also needs a series of equipment supports such as turntable, target (earth, the sun etc.) simulator, exciting bank, harvester, interface arrangement.According to the demand of emulation testing and the cost of development, semi-physical simulation has or not multiple emulation modes such as turntable, single turntable, many turntables.The equipment difference that variety of way is required, the hardware configuration difference of composition, the software function that needs is also different.Semi-physical simulation device at a kind of mode designs generally only is applicable to a kind of emulation mode, and is subject to the structure and the quantity of emulation interface, often only is applicable to a kind of test of model satellite.This semi-physical simulation installation cost height, design is complicated, versatility is poor, is suitable for the large satellite test that model is solidified, but for flexible design, the limited moonlet of cost, not really suitable.
Summary of the invention
Technical matters to be solved by this invention provides a kind of small satellite attitude control ground simulating device applicable to multiple satellite model.
The present invention solves the technological means that its technical matters takes: this small satellite attitude control ground simulating device, comprise the tested module of emulation support module and satellite, it is characterized in that: described emulation support module comprises simulation computer, flush bonding processor and field programmable gate array, the tested module of described satellite comprises appearance controlling processor, measurement component and execution unit, described simulation computer, flush bonding processor and field programmable gate array link to each other successively, and described appearance controlling processor, each measurement component and each execution unit are connected with field programmable gate array respectively.
Further, the present invention also comprises the environmental simulation module, and this environmental simulation module comprises turntable and target simulator, and described measurement component is fixed on the turntable, and turntable is connected with simulation computer respectively with target simulator.
Further, in apparatus of the present invention,
Described simulation computer comprises:
Be used to receive, handle control moment data that flush bonding processor sends to obtain about the attitude information and the environmental information of moonlet and to send to the data processing equipment of flush bonding processor;
Described flush bonding processor comprises:
Be used to control the time sequence control device of this flush bonding processor and simulation computer real-time working,
Be used to read by the field programmable gate array switching handle the equivalent data generating apparatus that obtains each measurement component equivalent data about the image data of each measurement component and with this image data and attitude information and environmental information,
Be used to receive, handle the moment harvester that steering order that the appearance controlling processor by the field programmable gate array switching sends obtains described control moment data;
Described field programmable gate array comprises:
Be used for each measurement component equivalent data that the equivalent data generating apparatus sends is stored and sent to the equivalent data dispensing device of appearance controlling processor.
Further, in apparatus of the present invention,
Described simulation computer comprises:
Be used to receive, handle control moment data that flush bonding processor sends obtaining about the attitude information and the environmental information of moonlet and to send to the data processing equipment of flush bonding processor,
Be used for according to described attitude information and environmental information control output unit to turntable and target simulator transmitting control commands;
Described flush bonding processor comprises:
Be used to control the time sequence control device of this flush bonding processor and simulation computer real-time working,
Be used to read by the field programmable gate array switching handle the equivalent data generating apparatus that obtains each measurement component equivalent data about the image data of each measurement component and with this image data and attitude information and environmental information,
Be used to receive, handle the moment harvester that steering order that the appearance controlling processor by the field programmable gate array switching sends obtains described control moment data;
Described field programmable gate array comprises:
Be used for each measurement component equivalent data that the equivalent data generating apparatus sends is stored and sent to the equivalent data dispensing device of appearance controlling processor.
Further, simulation computer of the present invention also comprises the storage plotting unit that the data of data treating apparatus transmission are stored and drawn.
The present invention carries out the small satellite attitude control ground method of emulation and mainly comprises:
Simulation computer receives, handles control moment data that flush bonding processor sends to obtain about the attitude information and the environmental information of moonlet and to send to the step of flush bonding processor;
Flush bonding processor reads handles the step that obtains each measurement component equivalent data by field programmable gate array switching about the image data of each measurement component and with this image data and attitude information and environmental information;
The step that the appearance controlling processor was stored and sent to each measurement component equivalent data that field programmable gate array sends flush bonding processor,
The step of steering order is handled and exported to the appearance controlling processor to each measurement component equivalent data,
The step that flush bonding processor receives, processing is obtained described control moment data by the steering order of the appearance controlling processor transmission of field programmable gate array switching.
Further, the present invention comprises that also described simulation computer is according to described attitude information and the environmental information step to turntable and target simulator transmitting control commands.
Further, the present invention also comprises the step that described simulation computer is stored and drawn described control moment data, attitude information and environmental information.
Compared with prior art, the present invention has following advantage:
1) the present invention adopts field programmable gate array (FPGA) to be connected respectively with appearance controlling processor, measurement component, execution unit.Concrete connected mode is that the digital signal interface place that is connected with appearance controlling processor and its each measurement component, each execution unit disconnects, and the interface of gap all is connected with FPGA.This design makes simulator be adapted to the emulation demand of multiple model satellite.Because FPGA has good extendability, for dissimilar interfaces, FPGA can change by programming.Therefore need only appearance controlling processor and its digital interface that respectively existence can disconnect between measurement, the execution unit of tested satellite, simulator so of the present invention is changed without any need for hardware, just can satisfy the emulation demand of this model satellite.
2) the present invention is at FPGA and appearance controlling processor, measurement component, execution unit respectively on the connection basis, the image data of coming the analogue measurement parts by the method that generates equivalent data.This design makes simulator can satisfy the semi-physical simulation demand of multiple mode simultaneously.According to this design, the difference of multiple semi-physical simulation modes such as no turntable, single turntable, many turntables only is that flush bonding processor generates the mode difference of measurement component equivalent data.Therefore, only need the embodiment of the equivalent data generating apparatus of change flush bonding processor, just can support the semi-physical simulation of variety of way.
3) in the present invention, the task of emulation sequential control is born by the time sequence control device of flush bonding processor.This design has reduced the real-time requirement of simulator to simulation computer, causes the general purpose PC that adopts non-real time operating system, also can be used as simulation computer and uses.So,, increase some interface functions, just can be directly used in semi-physical simulation based on the mathematics emulator of professional softwares such as Matlab.With respect to the dedicated emulated software of using language compilation such as FORTAN, C, PASCAL on dedicated emulated computing machine, the development and maintenance of simulation computer software of the present invention is more simple, and the operation of simulation process and the analysis of simulation result are also more flexibly, conveniently.
4) emulation support module of the present invention adopts the mode of simulation computer, flush bonding processor, FPGA three's combination.This design will be harsh originally emulation support module designing requirement (operand is big, memory space is big, real time execution, real-time response etc.) share on a plurality of parts, be that simulation computer is responsible for computing and storage, flush bonding processor are responsible for sequential control, FPGA is responsible for real-time response.So, use common commercial devices can satisfy the designing requirement of simulator, simulator is realized simple, with low cost, has reduced the development time and the cost of development of attitude of satellite control ground simulating device greatly.
Description of drawings
Fig. 1 is the principle of work block diagram of typical satellite attitude control system;
Fig. 2 is the structure and the principle of work block diagram thereof of small satellite attitude control ground simulating device of the present invention under the no turntable emulation mode;
Fig. 3 is structure and the principle of work block diagram thereof that small satellite attitude control ground simulating device of the present invention under the turntable emulation mode is arranged;
Fig. 4 is the treating apparatus structure and the principle of work block diagram thereof of simulator emulation support module of the present invention under the no turntable emulation mode;
Fig. 5 is treating apparatus structure and the principle of work block diagram thereof that simulator emulation support module of the present invention under the turntable emulation mode is arranged;
Fig. 6 is the workflow diagram of simulation computer of the present invention;
Fig. 7 is the workflow diagram of flush bonding processor of the present invention.
Embodiment
As shown in Figure 1, typical satellite posture control system comprises appearance controlling processor, measurement component, execution unit and satellite body.The appearance controlling processor is its main operational unit of satellite posture control system.Measurement component comprises each attitude sensor and the interface arrangement thereof that tested satellite carries, for example gyro, sun sensor, magnetometer, star sensor etc.Execution unit comprises each control gear and the interface arrangement thereof that tested satellite carries, for example magnetic torquer, momenttum wheel, jet mechanism etc.Satellite body comprises on satellite shell and other all stars and installing.During the work of satellite posture control system, the appearance controlling processor reads the image data of measurement component, and by using attitude measurement, control algolithm on the star, sending controling instruction drives execution unit output control moment.Control moment acts on satellite body, causes the satellite body attitude to change.The motion of the attitude of satellite can change the output of measurement component again.The appearance controlling processor reads the measurement component image data after the change, judges attitude control effect, adjusts steering order.More than operation goes round and begins again, and runs through the overall process of satellite posture control system operation.
As shown in Figure 2, under no turntable emulation mode, small satellite attitude control ground simulating device of the present invention comprises emulation support module and the tested module of satellite.Under the simulation status, the tested module of satellite includes only appearance controlling processor, measurement component and execution unit.Satellite body that the tested module work of satellite is required and space environment are then replaced by the emulation support module.
The emulation support module comprises simulation computer, flush bonding processor and field programmable gate array (FPGA).In concrete the enforcement, simulation computer can use the general purpose PC based on Windows operating system; Flush bonding processor can use common single-chip microcomputer, DSP or ARM chip, for example the ADuC841 single-chip microcomputer of AD company; FPGA can use general commercial erasable FPGA or CPLD chip, for example the XC2C512CoolRunner II CPLD chip of XILINX company.
The simulation computer of emulation support module, flush bonding processor and FPGA three link to each other successively.The interface of simulation computer and flush bonding processor generally adopts the common interfaces of PC, for example RS232 or USB interface.All external communication interface of flush bonding processor, for example serial ports, parallel port, address data bus etc. all are connected with FPGA.
The appearance controlling processor of the tested module of satellite, each measurement component and each execution unit are connected with FPGA respectively.Concrete connected mode is that the digital signal interface place that is connected with appearance controlling processor and each measurement component, each execution unit disconnects, and the interface of gap all is connected with FPGA.
As shown in Figure 3, having under the turntable emulation mode, small satellite attitude control ground simulating device also comprises the environmental simulation module, and this environmental simulation module comprises turntable and target simulator.The function of turntable is to rotate by self a kind of analog satellite motion process of equal value in orbit is provided, and single shaft, twin shaft or three-axle table all can be used for semi-physical simulation; The function of target simulator is the optical characteristics and the motion feature of virtual space celestial body under laboratory condition, for example solar simulator, earth simulator, star emulator etc.
The measurement component of the tested module of satellite is fixed on the turntable, and turntable then is connected with simulation computer respectively with target simulator.According to different simulation requirements and emulation mode, the fixed form of measurement component has multiple, and for example: each measurement component all is fixed on the same turntable, or each measurement component to be individually fixed in a plurality of different turntables first-class.The interface type that turntable, target simulator are connected with simulation computer is by the concrete model decision of equipment.The 2TD-200 single axle table produced of Jiujiang 6354 for example, and the interface between the PC is RS232.
As shown in Figure 4, under no turntable emulation mode, the simulation computer of small satellite attitude control ground simulating device comprises data processing equipment and storage plotting unit; Flush bonding processor comprises time sequence control device, equivalent data generating apparatus and moment harvester; FPGA comprises the equivalent data dispensing device.
Simulation computer can use the general purpose PC based on Windows operating system in concrete enforcement, the realization of programming on the Matlab/Simulink platform of its software.Matlab/Simulink has powerful modeling and simulating, calculation process, data analysis function as professional simulation software, all right independently developed C of integrated user, C++ program.Simulation computer software is developed on this platform, and is not only flexible, and the precision of computing and efficient can be guaranteed.
The data processing equipment of simulation computer is used to receive, handle the control moment data that flush bonding processor sends, and obtaining attitude information and the environmental information about moonlet, and attitude information and environmental information is sent to flush bonding processor.The control moment data refer to the moment that applies of moonlet execution unit; Attitude information comprises moonlet three-axis attitude angle, attitude angular velocity; Environmental information comprises for example relative position information of moonlet, the earth, and moonlet receives sun direction of light and intensity, and moonlet receives the direction and the intensity of starlight, the direction in magnetic field of the earth, moonlet present position and intensity etc.When being the RS232 interface between simulation computer and the flush bonding processor, simulation software can directly call the integrated operation of serial-port function of Matlab, the function that realize receiving the control moment data, sends attitude information and environmental information; When not being the RS232 interface, because Matlab do not provide ready-made interface function, need be based on C++ development interface signal procedure, and, be integrated into Simulink to realize communication function according to the form of S function.Simulation computer mainly is the recursion calculating of carrying out moonlet track, dynamics, space environment according to the control moment data to the processing of control moment data, and result calculated promptly is about the attitude information of moonlet and environmental information.Calculating required mathematical model can be with reference to " attitude of satellite dynamics and control (1) " (Tu Shancheng chief editor, the China Yuhang Publishing House, publish in September, 1999, the 22-73 page or leaf) and " spacecraft orbit dynamics and control (on) " (Yang Jiachi chief editor, the China Yuhang Publishing House, publish Dec nineteen ninety-five, the 79-151 page or leaf).
The storage plotting unit of simulation computer is used for the data that the data treating apparatus sends are stored and drawn.The storage of data can directly realize based on the integrated ToWorkspace module of Simulink; The drawing of data then can realize based on 2D, 3D graphic plotting function that the integrated Scope module of Simulink and Matlab provide.In concrete the enforcement, which data needs storage, and which data needs is drawn, and can need to decide on the user.
Flush bonding processor uses general common MCU, DSP or ARM chip in concrete enforcement, its software generally uses C or assembly language, writes with reference to the designing requirement of concrete chip.Because simulation computer has been born mathematical computations, the data storage task of resource consumption maximum, the frequency of operation of flush bonding processor does not also require very high.And on the other hand, because Windows operating system and non-real time operating system, the task of control simulation computer work schedule needs to be born by flush bonding processor, this just requires flush bonding processor to have work clock comparatively accurately, and the frequency of operation precision of general embedded chip is can satisfy simulation requirements fully.In addition, flush bonding processor requires to have comparatively comprehensively Peripheral Interface, because it will carry out the operation of the data acquisition of measurement component image data, appearance controlling processor steering order.
The time sequence control device of flush bonding processor is used to control this flush bonding processor and simulation computer real-time working.Real-time working is one of basic demand of general attitude of satellite control ground simulating device, the present invention is owing to adopt general purpose PC based on non-real time operating system as simulation computer, simulation computer no longer has sequential control ability accurately, so the task of sequential control is born by flush bonding processor.The specific implementation of time sequence control device is as follows: flush bonding processor adopts timer to trigger the mode of operation of interrupting, and promptly each timer interrupts, and the moment harvester of flush bonding processor carries out a steering order collection; Have no progeny in the several times continuously, the moment harvester is handled the steering order that collects, and calculates the control moment data, and the communicating by letter of initiation and simulation computer, and transmitting and receiving data is carried out the operation of equivalent data generating apparatus then.Data communication between flush bonding processor and the simulation computer, trigger data processing equipment, the work of storage plotting unit of simulation computer, it is each emulation cycle, flush bonding processor calculates control moment data, initiate one time interface communication, calculate once each measurement component equivalent data, interface communication of simulation computer response, carry out one time data processing, once storage is drawn.The recursion cycle of simulation computer and the control moment data computation cycle of flush bonding processor are consistent, and can guarantee both synchronous real time executions.In concrete the enforcement, the emulation cycle is traditionally arranged to be tens to 100 times of timer interrupt cycle, and timer interrupt cycle be closely-related with the particular type of tested satellite execution unit, for example execution unit is the satellite of magnetic torquer, control moment is little, control response is slow, can be provided with longer this moment interrupt cycle, and be the satellite of air jet system for execution unit, and control moment is big, control response is fast, and the interrupt cycle of this moment just must be than weak point.In addition, because the emulation cycle is equal to the generation cycle of each measurement component equivalent data, in order to guarantee the ageing of measurement component equivalent data, it is long that the emulation cycle should not get, otherwise can increase the systematic error of ground simulating device.For example 1 second emulation cycle, the refresh cycle that means the measurement component equivalent data is 1 second, promptly appearance controlling processor equivalent data retardation time of reading the longest be 1 second; If the attitude of satellite in 1 second, environmental change are all very little, choosing of this one-period is exactly rational.Otherwise, it is too short that the emulation cycle also should not get, the too short emulation cycle can increase the work load of simulation computer, flush bonding processor on the one hand, on the other hand, simulation computer carries out too frequent model recursion and calculates, and the accumulation of error in numerical calculation also can increase the systematic error of ground simulating device.
The equivalent data generating apparatus of flush bonding processor is used to read the image data about each measurement component by the field programmable gate array switching, and this image data and attitude information and environmental information are handled, and obtains each measurement component equivalent data.Image data refers to the data to each measurement component collection acquisition, for example: the sun vector measurement data of sun sensor, the magnetic vector measurement data of magnetometer etc.Equivalent data refers to be generated by flush bonding processor, is used for the output data of each measurement component of equivalent simulation under corresponding attitude, environmental information.The source of attitude information and environmental information is the data processing equipment of simulation computer, and flush bonding processor obtains these data by the communication of corresponding interface.The generating mode of each measurement component equivalent data is as follows: under no turntable emulation mode, because all static placement of each measurement component, the ideal output of its measurement data is known, three output ideal values were for 0 degree/second when for example gyro left standstill, and desirable output should equal the magnetic-field vector of the earth of this position when magnetometer left standstill.Flush bonding processor reads the image data of each measurement component, deducts its desirable output, can obtain output zero inclined to one side, the noise data of each measurement component.On the other hand, flush bonding processor is according to small satellite attitude information and environmental information, calculate the theory output of each measurement component under corresponding attitude and environmental information, for example the theory of gyro is output as Satellite Angle speed, and the ideal of magnetometer is output as satellite present position magnetic-field vector of the earth.Flush bonding processor has just obtained the equivalent data of each final measurement component with output zero point, noise data and its theoretical output addition of each measurement component.
The moment harvester of flush bonding processor is used to receive, handle the steering order by the appearance controlling processor transmission of field programmable gate array switching, controlled moment data.For the execution unit of switch control, for example magnetic torquer, air jet system etc., steering order refers to the on off state of this execution unit, particularly promptly is ' 0 ', ' 1 ' state of control signal wire; For the execution unit of non-switch control, momenttum wheel for example, steering order refers to it is the moment relevant information of this execution unit, for example rotary speed data of momenttum wheel.As previously mentioned, the moment harvester is under the control of time sequence control device, and each timer reads steering order and record when interrupting, and each emulation cycle is calculated the control moment data one time according to the record result in this cycle.What the control moment data referred to execution unit in this cycle on average applies moment, and its calculating is carried out according to the moment model of execution unit.The control moment data that obtain need send to the data processing equipment of simulation computer.As previously mentioned, initiated by flush bonding processor with communicating by letter of simulation computer, the simulation computer responding communication then carries out other operation again.
FPGA can use commercial erasable FPGA or CPLD chip in concrete enforcement, the working routine of FPGA generally adopts Verilog or VHDL language, writes with reference to the designing requirement of concrete chip.In concrete the enforcement, owing to connect appearance controlling processor, measurement component, execution unit simultaneously, and flush bonding processor, FPGA requires to have more number of pin.For measurement component, execution unit quantity is many and the tested satellite of complex interfaces, can use the polylith fpga chip, connects some parts respectively, realizes function jointly.
The equivalent data dispensing device of FPGA is used for each measurement component equivalent data that the equivalent data generating apparatus sends is stored, and sends to the appearance controlling processor.After equivalent data generated, flush bonding processor sent it to FPGA by data, address bus.FPGA stores equivalent data after receiving, and waits for the data acquisition instruction of appearance controlling processor.The level 2 buffering structure is adopted in the storage of equivalent data, avoids Data Receiving and response to send the conflict that same buffer data is operated with this.When the appearance controlling processor was gathered measurement component, FPGA sent equivalent data according to the communications protocol format of this measurement component.For the appearance controlling processor, FPGA promptly is that the equivalence of each measurement component exists.FPGA is the hardware logic unit, and all modules are concurrent working.Use FPGA but not flush bonding processor is done the equivalent measurement parts, the real-time response of the instruction that can guarantee to sample is simplified the workflow of flush bonding processor simultaneously, thereby is guaranteed the real-time index of simulator.For the satellite of different model, the interface of its measurement component, agreement are mostly different, and therefore in concrete enforcement, FPGA need write corresponding equivalent interface module.The function of equivalent modules promptly is the interface type and the communication protocol of analogue measurement parts, and the sampling instruction of identification appearance controlling processor sends the equivalent data of storage in advance.
In addition, FPGA also bears the interface expanded function of flush bonding processor.Generally speaking, flush bonding processor possesses gathers the required communication interface of measurement component data, and this moment, the interface expansion of FPGA promptly was that IO interface with flush bonding processor is connected respectively with the input and output interfaces of measurement component.When having the measurement component of a plurality of same interfaces, FPGA also needs to realize the gating function of each interface.When flush bonding processor does not possess when gathering the required communication interface of measurement component data, FPGA need also need further to write the modular converter of corresponding interface.For example flush bonding processor has only the UART interface, and measurement component is when requiring to be the SPI interface, FPGA needs to receive earlier the instruction of flush bonding processor UART interface, be converted to the communication format of SPI interface, send to measurement component, read the return data of measurement component SPI interface then, be converted to the communication format of UART interface, send to flush bonding processor.This process is comparatively loaded down with trivial details, and therefore in concrete enforcement, interface type flush bonding processor is widely selected in suggestion for use.In simulator, FPGA all is connected with appearance controlling processor, each measurement component, each execution unit.Satellite for different model, the interface of these parts is different often, but can wipe the function of programming again because FPGA has, at the change of tested satellite model, simulator only need change the program of programming in the FPGA, can satisfy the emulation demand after the change.Therefore simulator hardware have good versatility without any need for change.
As shown in Figure 5, having under the turntable emulation mode, the simulation computer of small satellite attitude control ground simulating device also comprises the instruction output unit.In addition, the equivalent data generating apparatus of flush bonding processor, specific implementation method also with no turntable emulation mode under different.
The instruction output unit of simulation computer is used for according to described attitude information and environmental information to turntable and target simulator transmitting control commands.The interface communication of simulation computer and turntable, target simulator, its implementation method can be with reference to the interface implementation method of aforementioned simulation computer and flush bonding processor.The control strategy of turntable and target simulator, analogy method are the basic fundamentals that the turntable semi-physical simulation is arranged, and particular content can be with reference to " satellite control system emulation technology " (publish in Dec, 2003, the 311-414 page or leaf for Liu Liangdong chief editor, Yuhang Publishing House).
The equivalent data generating apparatus of flush bonding processor is having under the turntable emulation mode, and implementation method is different, and particularly, the computing method that are exactly equivalent data are different.The computing method of equivalent data are to be associated with concrete emulation mode, and which kind of uses concrete the turntable emulation mode arranged, and are closely-related with cost of development, because multiaxis turntable and high performance target simulator prevailing price costliness.According to different emulation budgets, following several frequently seen concrete emulation mode is arranged:
1. use the semi-physical simulation of three-axle table and three target simulators.Under this mode, be fixed in the measurement component on the turntable, its kinetic characteristic and measurement environment be the state equivalent in orbit time the with satellite all.During simulator work, the equivalent data generating apparatus of flush bonding processor directly sends to FPGA as the equivalent data of this measurement component with the measurement component image data that reads.
2. use the semi-physical simulation of three single axle tables and three single shaft target simulators.Under this mode, the measurement component of three same models is individually fixed on three single axle tables, and it respectively has one kinetic characteristic and measurement environment and the state equivalent of satellite when rail moves.During simulator work, the equivalent data generating apparatus of flush bonding processor reads the image data of three measurement components, respectively gets one, forms a complete measurement component equivalent data and sends to FPGA.
3. use the semi-physical simulation of one to two single axle table and one to two single shaft target simulator.Under this mode, the measurement component of three same models is fixed one on each turntable, and remaining leaves standstill.During simulator work, the equivalent data generating apparatus of flush bonding processor reads single shaft output zero point, the noise that leaves standstill measurement component, superimposed with the theoretical output data that attitude of satellite information of being exported by simulation computer and environmental information calculate, again with turntable on the image data of measurement component combined, respectively get one, generate final equivalent data and send to FPGA.
The rank of above-mentioned three kinds of required turntables of emulation mode, target simulator reduces successively, and the emulation cost also reduces successively.In concrete the enforcement, tested satellite often has a plurality of different measurement components, for example has gyro, sun sensor, magnetometer simultaneously.Different measurement components can be according to simulation requirements, adopt the emulation respectively of different emulation modes, for example gyro can be fixed on the three-axle table, sun sensor is by three single axle tables and three solar simulator emulation, magnetometer then leaves standstill, and adopts no turntable emulation mode to generate equivalent data.In this case, the environmental simulation module of small satellite attitude control ground simulating device just comprises a three-axle table, three single axle tables, and three solar simulators.
As shown in Figure 6, the workflow of simulation computer is as follows: after the simulation software operation, at first carry out the initialization operation of simulation parameter, communication interface.After initialization was finished, simulation software entered interface poll waiting status.Simulation computer is inquired about the Interface status with flush bonding processor repeatedly under this state, jumps out when flush bonding processor sends data.After jumping out, simulation computer carries out the data interaction with flush bonding processor, promptly receives satellite control moment data, concurrently serves attitude of satellite information, the environmental information that the one-period computing draws.Simulation software carries out the data processing operation (being track, dynamics, space environment calculating) of following one-period, with attitude of satellite information, the environmental information that obtains to send next time according to the control moment that receives when communicating by letter afterwards.After mathematical computations was finished, simulation software also need carry out data storage, graphic plotting according to demand.Having under the turntable emulation mode, simulation computer also needs turntable, target simulator output control are made its equivalence that simulates satellite measurement component when rail moves motion, measurement environment.
As shown in Figure 7, the workflow of flush bonding processor is as follows: behind the flush bonding processor running software, at first carry out parameter, interface, and the initialization of timer.After initialization was finished, flush bonding processor software entered the duty that timer triggers.After each timer triggers, flush bonding processor carries out the collection of an appearance controlling processor output steering order, while counter timer triggering times, when the timer triggering times is accumulated to a certain value, the time in an emulation cycle arrives, the zero clearing of timer triggering times, and flush bonding processor is handled the steering order that collects in this cycle simultaneously, calculate the control moment data of satellite in this cycle, initiate interface communication then with simulation computer.Flush bonding processor sends the control moment data in the communication, receives attitude information, environmental information.After communication finished, flush bonding processor read the image data of each measurement component, according to the concrete mode of current emulation, the image data of each measurement component was handled simultaneously, generated the equivalent data of each measurement component.The generation method of equivalent data has multiple, specifically can be described with reference to preamble.After equivalent data generated, flush bonding processor sent it to FPGA.FPGA stores data, and sends to the appearance controlling processor.
Under no turntable emulation mode, the emulation mode of small satellite attitude control ground simulating device is as follows: each parts that at first connects simulator according to preceding method, small satellite attitude control ground simulating device powers on then, the simulation computer program brings into operation, bring into operation simultaneously afterwards flush bonding processor and appearance controlling processor program, emulation begins.In the emulation, simulation computer receives, handles the control moment data that flush bonding processor sends, and obtains attitude information and environmental information about moonlet, and sends to flush bonding processor; Flush bonding processor reads the image data about each measurement component by field programmable gate array switching, and this image data and attitude information and environmental information are handled, and obtains each measurement component equivalent data; Field programmable gate array is stored each measurement component equivalent data that flush bonding processor sends, and sends to the appearance controlling processor; The appearance controlling processor is handled each measurement component equivalent data, and the output steering order; Flush bonding processor receives, handles the steering order by the appearance controlling processor transmission of field programmable gate array switching, controlled moment data; The control moment data are received by simulation computer once more, and handle.Whole simulation process circulates according to this, finishes until emulation.
Having under the turntable emulation mode, the emulation mode of small satellite attitude control ground simulating device can comprise that also simulation computer is according to attitude information and the environmental information step to turntable and target simulator transmitting control commands.This step is carried out after simulation computer draws attitude information and environmental information, after turntable and target simulator receive control command, can be fixed in the working environment of measurement component on the turntable according to order adjustment.The change of working environment can cause the image data of measurement component output to change.Flush bonding processor also will change according to the method that image data generates equivalent data thereupon, but the step of whole simulation method is still identical with no turntable emulation mode.
In addition, the emulation mode of small satellite attitude control ground simulating device of the present invention also can comprise the step that simulation computer is stored and drawn control moment data, attitude information and environmental information.Data storage is further to analyze simulation result for emulation finishes the back, but the data drawing is the duty for the tested satellite of real-time monitored in emulation is carried out.
Claims (8)
1. small satellite attitude control ground simulating device, comprise the tested module of emulation support module and satellite, it is characterized in that: described emulation support module comprises simulation computer, flush bonding processor and field programmable gate array, the tested module of described satellite comprises appearance controlling processor, measurement component and execution unit, described simulation computer, flush bonding processor and field programmable gate array link to each other successively, and described appearance controlling processor, each measurement component and each execution unit are connected with field programmable gate array respectively.
2. small satellite attitude control ground simulating device according to claim 1, it is characterized in that: further comprising the environmental simulation module, this environmental simulation module comprises turntable and target simulator, and described measurement component is fixed on the turntable, and turntable is connected with simulation computer respectively with target simulator.
3. small satellite attitude control ground simulating device according to claim 1 is characterized in that:
Described simulation computer comprises:
Be used to receive, handle control moment data that flush bonding processor sends to obtain about the attitude information and the environmental information of moonlet and to send to the data processing equipment of flush bonding processor;
Described flush bonding processor comprises:
Be used to control the time sequence control device of this flush bonding processor and simulation computer real-time working,
Be used to read by the field programmable gate array switching handle the equivalent data generating apparatus that obtains each measurement component equivalent data about the image data of each measurement component and with this image data and attitude information and environmental information,
Be used to receive, handle the moment harvester that steering order that the appearance controlling processor by the field programmable gate array switching sends obtains described control moment data;
Described field programmable gate array comprises:
Be used for each measurement component equivalent data that the equivalent data generating apparatus sends is stored and sent to the equivalent data dispensing device of appearance controlling processor.
4. small satellite attitude control ground simulating device according to claim 2 is characterized in that:
Described simulation computer comprises:
Be used to receive, handle control moment data that flush bonding processor sends obtaining about the attitude information and the environmental information of moonlet and to send to the data processing equipment of flush bonding processor,
Be used for according to described attitude information and environmental information control output unit to turntable and target simulator transmitting control commands;
Described flush bonding processor comprises:
Be used to control the time sequence control device of this flush bonding processor and simulation computer real-time working,
Be used to read by the field programmable gate array switching handle the equivalent data generating apparatus that obtains each measurement component equivalent data about the image data of each measurement component and with this image data and attitude information and environmental information,
Be used to receive, handle the moment harvester that steering order that the appearance controlling processor by the field programmable gate array switching sends obtains described control moment data;
Described field programmable gate array comprises:
Be used for each measurement component equivalent data that the equivalent data generating apparatus sends is stored and sent to the equivalent data dispensing device of appearance controlling processor.
5. according to claim 3 or 4 described small satellite attitude control ground simulating devices, it is characterized in that: described simulation computer also comprises the storage plotting unit that the data of data treating apparatus transmission are stored and drawn.
6. one kind is used the device of claim 1 to carry out the small satellite attitude control ground method of emulation, it is characterized in that comprising:
Simulation computer receives, handles control moment data that flush bonding processor sends to obtain about the attitude information and the environmental information of moonlet and to send to the step of flush bonding processor;
Flush bonding processor reads handles the step that obtains each measurement component equivalent data by field programmable gate array switching about the image data of each measurement component and with this image data and attitude information and environmental information;
The step that the appearance controlling processor was stored and sent to each measurement component equivalent data that field programmable gate array sends flush bonding processor,
The step of steering order is handled and exported to the appearance controlling processor to each measurement component equivalent data,
The step that flush bonding processor receives, processing is obtained described control moment data by the steering order of the appearance controlling processor transmission of field programmable gate array switching.
7. the small satellite attitude control ground method of emulation of carrying out according to claim 6 is characterized in that: comprise that also described simulation computer is according to described attitude information and the environmental information step to turntable and target simulator transmitting control commands.
8. according to claim 6 or the 7 described small satellite attitude control ground method of emulation of carrying out, it is characterized in that: also comprise the step that described simulation computer is stored and drawn described control moment data, attitude information and environmental information.
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