CN101916205A - Frequency domain test system and method for flight control software control network - Google Patents
Frequency domain test system and method for flight control software control network Download PDFInfo
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Abstract
The invention relates to frequency domain test system and method for a flight control software control network, which can realize a frequency domain test to a flight control software control network. The invention is characterized by loading a process control module, an environment simulation module and a background processing module to a digital simulation platform for testing, so that the test of the flight control network is realized, and then, the frequency domain output by the test is analyzed by an off-line analysis module, wherein the process control module is used for controlling the whole process of the test, and the environment simulation module and the background processing module are used for simulating the real-time flight environment of the flight control software and generating and recording input and output data. Meanwhile, compared with the prior art, the invention also has the characteristics of high speed, high accuracy, comprehensiveness and the like.
Description
Technical field
The present invention relates to a kind of frequency domain test system and method, particularly relate to a kind of test macro and method, belong to field tests at Control Network in the flight control system.
Background technology
Flight control system is extensive use of computer control, handling and normally finish the continuous system design during Control System Design earlier and then carry out discretize, is a kind of theoretical analysis that carries out when continuous system designs to the frequency district characteristic analysis of control system in the prior art therefore.
Control system network equation after the discrete processes is finally with in the present Flight Control Software of the form body of difference equation.Be the real-time of guaranteeing to control, in Flight Control Software when design, calculate Control Network and be divided into that calculate on the foreground and two parts of backstage calculating.When a control cycle begins, carry out Guidance Law earlier and calculate, finish the foreground of Control Network subsequently and calculate,, finish the backstage of Control Network at last and calculate then to topworks's output control command.So whether the Control Network that needs a kind of effective method of testing of research to verify that Flight Control Software is realized can satisfy the function and the performance requirement of system design.
Control specialty at present mainly tests the various performances of access control system by hardware-in-the-loop simulation.Though used real flight computer, but need use professional test equipment such as simulated test platform during owing to test, so must comprise multiple instrumental error and the measuring accuracy error of introducing by equipment in the test data, these errors also may exist and much be difficult to the coupled relation analyzed, thereby have influenced the accuracy of test data.Whether the main test flight Control Software of software test specialty has correctly realized control algolithm according to the requirement of charter, generally carries out the time domain checking, with the input of step signal as the Control Network computing module, judges whether calculate output consistent with theoretical value.But this kind method but can not be to the time-delay characteristics of examination Control Network on different frequency range.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome the deficiencies in the prior art, provide a kind of at abundant, accurate, comprehensive frequency domain test system of Control Network in the Flight Control Software and method.
Technical solution of the present invention is:
The flight control software control network frequency domain test system, it is characterized in that by moving after the Digital Simulation platform dynamic load test function module with virtual cpu and mutual internal memory, described test function module comprises: process control module, environmental simulation module and background processing module, the off-line analysis module that also comprises independent operating simultaneously, wherein:
Described process control module is used for whole test process is controlled, and at first, in the test starting stage, sends the Object Creation order to environmental simulation module and background processing module; After the Object Creation success, be written into test script and set up test script streamline sequence; The test script circulation that explanation effectively is written into is carried out dynamic test, last test script in the streamline sequence; In the starting stage of dynamic test, at first send initialization command to environmental simulation module and background processing module, drive virtual cpu and load tested Flight Control Software, according to setting up the flight control cycle regularly, and whether the flight control cycle then judged when the script of time dynamic test; In the timing of flight control cycle, drive virtual cpu operation Flight Control Software then, explain test script; According to explanation to test script, upgrade or the renewal of the equipment order to the environmental simulation module transmission cycle earlier, perhaps after background processing module sends the data recording order, upgrade or the renewal of the equipment order to the environmental simulation module transmission cycle again; Press the regulation data injection if desired of test script, then send data and generate order to background processing module; After data are injected and are finished, if the test duration of test script regulation, the end dynamic test, otherwise rejudge control cycle regularly, and circulation is carried out; After the test that has finished all test scripts, send object unloading order to environmental simulation module and background processing module; Finish test;
Described environmental simulation module, the real time execution environment that is used for the simulated flight Control Software, comprise device emulation object that is used for simulated flight Control Software operation hardware environment and the mathematical model simulation object that is used for simulated flight Control Software service data environment, wherein said device emulation object comprises interrupt control device model, communication control unit model and the comprehensive port model of flight-control computer, order according to process control module is operated, when receiving the Object Creation order, create device emulation object and mathematical model simulation object; When receiving initialization command, initialization apparatus simulation object and mathematical model simulation object; The cycle of receiving calls the simulation calculation that the mathematical model simulation object carries out the flight control environment, and upgrades the data in the mutual internal memory during update command; When receiving the renewal of the equipment order, the invocation facility simulation object carries out the simulation calculation of hardware environment, and upgrades the data in the mutual internal memory; When receiving object unloading order, unloading mathematical model simulation object and device emulation object;
Described background processing module, be used for producing test input data and logging test results, comprise data formation object and data recording object, operate accordingly according to the order of process control module, when receiving the Object Creation order, create data formation object and data recording object; When receiving initialization command, carry out data formation object and the initialization of data recording object; Receive when data generate order, generate test input data, and data are injected mutual internal memory according to the address of appointment in the test script by the data formation object; When receiving the data recording order, will test output data by the data recording object and record in the log file; When receiving object unloading order, unloading data formation object and data recording object;
The off-line analysis module, be used for the result of test is analyzed, at first read in the log file of test script and test output data, then the data in two files are handled respectively, in that (low-frequency range of ω * τ)＜0.17rad is carried out the processing that fits of Bsin (ω t+ θ)=B (ω t+ θ), wherein B is the amplitude of signal, θ is a phase place, and ω is an angular velocity, and τ is time-delay; In that (high band of ω * τ) 〉=0.17rad carries out fast fourier transform, calculates amplitude versus frequency characte and the phase-frequency characteristic of output test output data with respect to the input data at last.
Described background processing module is received when data generate order, and the data formation object is according to specified amplitude, frequency computation part in the test script and generate the sampled value of corresponding Test input signal.
Flight control software control network frequency domain test method is characterized in that realizing by following steps:
The first step, initialization, process control module sends the Object Creation order: the loading environment emulation module, create device emulation object and mathematical model simulation object, the hardware environment that wherein said device emulation object is used for the operation of simulated flight Control Software comprises interrupt control device model, communication control unit model and the comprehensive port model of flight-control computer, and described mathematical model simulation object is to being used for the data environment of simulated flight Control Software operation; Load background processing module, create data formation object and data recording object,, finish test if the Object Creation in environmental simulation module or the background processing module is unsuccessful;
In second step, process control module is written into test script, sets up the streamline sequence of test script;
In the 3rd step, process control module reads the Validity Test script in the script pipeline sequence in proper order, enters dynamic test, and circulation is carried out this step up to the streamline EOS;
In the 4th step, process control module sends object unloading order, and unloading environmental simulation module and background processing module finish test;
Described dynamic test realizes by following steps:
The first step, dynamic test initialization,
A, process control module send initialization command, the object in initialization context emulation module and the background processing module;
B, be written into tested Flight Control Software;
C, according to current test script, set up the flight control cycle regularly;
Second step, dynamic test
A, virtual cpu move tested Flight Control Software in control cycle; Process control module carries out control cycle judgement regularly, if then, then enters the b step, otherwise enters the d step;
B, process control module carry out script to be explained, record data if desired, process control module sends the data recording order, background processing module is called the current test data of data recording object record, the process control module cycle of sending upgrades or the renewal of the equipment order then, environmental simulation module invokes mathematical model simulation object or device model simulation object carry out environmental parameter to be upgraded, if do not need record data, directly carries out environmental parameter and upgrades;
C, inject data if desired, then process control module sends data and generates order, and background processing module is called the data formation object and generated new test input data and will test input data injection internal memory according to the memory address of test script regulation; Otherwise directly enter the d step;
D, process control module judge according to the end of test (EOT) time of stipulating in the test script whether dynamic test finishes, if do not finish, then get back to a;
In the 3rd step, dynamic test finishes;
Described off-line analysis is realized by following steps:
The first step, read test script and test output data;
Second step, (low-frequency range of ω * τ)＜0.17rad is carried out the computing that fits suc as formula (1),
Bsin(ωt+θ)＝B(ωt+θ) (1)
Wherein, B is the amplitude of signal, and θ is a phase place, and ω is an angular velocity, and τ is time-delay;
In that (high band of ω * τ) 〉=0.17rad carries out fast fourier transform;
In the 3rd step, calculate amplitude-frequency and phase-frequency characteristic that output data is imported data relatively;
The 4th step, output result of calculation, terminate offline analysis.
Described dynamic test is by the amplitude of the explanation of test script being determined the input data and memory address, data recording address, input sample signal injection length, test output data record type and the end of test (EOT) time that frequency, test 0 point, data are injected.
The present invention compared with prior art has following advantage:
(1) the present invention is by testing Flight Control Software at frequency domain, with the time domain test compare, can realize the time-delay characteristics of Control Network in the Flight Control Software are examined, improved the adequacy of test, also can analyze parameters such as the amplitude of signal, characteristic frequencies simultaneously, improve the comprehensive of test at test data.
(2) the present invention adopts mathematical model simulation object and the device emulation object true environment that real-time simulated flight device flies in test process in the environmental simulation module, has improved the accuracy of test.
Description of drawings
Fig. 1 is a system chart of the present invention;
Fig. 2 is a test main flow chart of the present invention;
Fig. 3 is a dynamic test process flow diagram of the present invention;
Fig. 4 is environmental simulation module realization flow figure of the present invention;
Fig. 5 is background processing module realization flow figure of the present invention;
Fig. 6 is off-line analysis module realization flow figure of the present invention;
The data file figure that Fig. 7 reads for environmental simulation module of the present invention.
Embodiment
Below in conjunction with accompanying drawing the specific embodiment of the present invention is further described in detail.
One, modular design
Described process control module 1, environmental simulation module 2 and background processing module 3 all can be loaded into dynamically on the Digital Simulation platform and move, described Digital Simulation platform is for the platform of internal storage access with the operation control interface can be provided, as products such as Keil51 and Vtest.Described virtual cpu is the parts of Digital Simulation platform.Described off-line analysis module 4 finishes the back at testing process to be handled output data, from frequency domain Flight Control Software is analyzed, and the output Measurement results.
1, process control module 1
Provide the form of test script below:
[fault is injected and is made]
The # start time; Concluding time; Variate-value (or wave frequency); Wave amplitude; Types of variables; Fault type; Memory address when fault is injected; Name variable
[end of test (EOT) time]
1＝150
The test script of corresponding concrete numerical value, as follows:
#95；150；3.0；1.0；8；1；0x00016960；GSa_Phi_cx
Wherein, for wave amplitude: 1 byte, 2 bytes, 4 bytes, 5 bytes, 8 bytes; For fault type: 0 is revised as the fixed variable value; 1 adds the sine wave of fixed frequency; 2 add step signal; 3 is cosine wave (CW); 4 is triangular wave; 5 is square wave.When process control module 1 is read zone bit " [fault is injected and made] ", the parameter that the beginning sequential read is taken off face; When reading zone bit when " [end of test (EOT) time] ", the test run time after reading, behind " 1=150 " representative operation 150s, finish test to current script.
2, the environmental simulation module 2
Environmental simulation module 2 is used for the real time execution environment of simulated flight device Flight Control Software.Wherein, described mathematical model simulation object is used for the data environment of simulated flight Control Software operation; in concrete design process, can be by to vehicle dynamics model, kinematics model with responsively carry out modeling with measurement model or by reading methods such as the data file realization of pre-defined aircraft flight.In the present embodiment, adopted by the reading corresponding data file and realized simulation the data environment of Flight Control Software operation, wherein the form of data file as shown in Figure 7, wherein t represent the time, unit is second; Pul_ax, pul_ay and pul_az are respectively the pulse value of accelerometer X, Y, Z direction; Pul_gx, pul_gy and pul_gz are the pulse value of gyro X, Y, Z direction, related spacecraft orbit parameter can (the old Ke Junheli of Jia Peiran writes in conjunction with concrete aircraft and with reference to " long-range rocket ballistics " in the data file, publishing house of the National University of Defense technology, 2009.06) the related method in the chapter 3 designs.Described device emulation object is used for the hardware environment of simulated flight Control Software operation, carry out modeling according to the hardware device model in the aircraft, comprise the interrupt control device model, the comprehensive port model of communication control unit model and flight-control computer, adopted general chip design in the present embodiment, therefore can be to the hardware environment model with reference to the handbook or the relevant books of concrete chip, as the interruptable controller employing is 8259A, this interruptable controller is carried out modeling can be with reference to " microcomputer interface know-why and application " (Liu Leshan, publishing house of HUST, 2000.06) content in the chapter 5; The comprehensive port model of flight-control computer can be with reference to the content in the chapter 2 of " microcomputer interface know-why and application " (Liu Leshan, publishing house of HUST, 2000.06); The communication control unit model has used L16c752, and modeling can reference:
TL16C752B-EP
3.3-V?DUAL?UART?WITH?64-BYTE?FIFO。
As shown in Figure 4, after being loaded, environmental simulation module 2 is in the state that receives order of waiting for all the time, utilize the round-robin wait that the order that current process control module 1 sends is judged, when receiving the order that process control module 1 is sent, at first judge the type of order, if order exists, then call corresponding processing function.Wherein, after receiving the cycle update command, environmental simulation module 2 is called the mathematical simulation object, and read data files is calculated the data environment of current flight Control Software, and upgrades the data in the mutual internal memory.After receiving the renewal of the equipment order, the device emulation object is called, and upgrades the hardware environment emulated data in the mutual internal memory.After handling corresponding order, return the state that receives order of waiting for once more.With the initialization command is that example describes the process of commands process, at first define the complete order that will receive by the data structure enum MESSAGE that enumerates, wherein initialized order is: EMU_INIT, then environmental simulation module 2 is when receiving order, judge by the switch statement, if order is EMU_INIT, then call initialization entrance function InitData ((PJBDRIVER_DATA) pData) and carry out initialization, wherein pData is converted to the data layout of PJBDRIVER_DATA type for pointing to the pointer of command context by forced type.For other order, adopt similar disposal route.
3, background processing module 3
Background processing module 3 is mainly used in to be handled the data in the test process.Wherein said data formation object is used for test input data are handled, and described data recording object is used for the test output data is recorded the log file of test output data.As shown in Figure 5, similar to this Module Design principle and disposal route and environmental simulation module 2, when receiving that data generate order, call the data formation object, the data formation object explains that according to 1 pair of script of process control module the amplitude and the frequency of the input data that the back obtains generate corresponding sampled data, and be injected in the mutual internal memory according to the test 0 of stipulating in the test script sampled data of naming a person for a particular job, read in control cycle for virtual cpu.When receiving the data recording order, call the data recording object, the content that the data recording object is explained according to script reads the data of respective type and writes in the document data record from the memory address of appointment.Wherein the data of storing in the internal memory have the real-time renewal of virtual cpu of Flight Control Software by operation.
4, the off-line analysis module 4
Off-line analysis module 4 is used for test data is carried out frequency-domain analysis.Wherein said frequency-domain analysis realizes by adopt FFT and fitting of a polynomial computing respectively in the height frequency range.
(low-frequency range of ω * τ)＜0.17rad can be selected the match computing as the formula (1),
Bsin(ωt+θ)＝B(ωt+θ) (1)
Wherein B is the amplitude of signal, and θ is the phase shift of signal, is parameter to be determined, and ω is an angular velocity.Match point selects value data to take place to become positive adjacent 2 points by bearing.
And more pay close attention to the responding ability of Control Software to low frequency signal for the test of Flight Control Software.Therefore, in that (high band of ω * τ) 〉=0.17rad carries out Fast Fourier Transform (FFT) to input signal and output signal respectively, asks near amplitude versus frequency characte and the phase-frequency characteristic of Control Network ω again.
Handle by output signal is carried out this type of in the height frequency range, realize the frequency domain characteristic of Control Network, as being Asin (ω t) when the input data of injecting, output data is Bsin[ω (t+ τ)+θ] time, B/A represents amplitude versus frequency characte, and θ represents phase-frequency characteristic.
Two, method of testing flow process
1, method of testing general characteristic
On digital simulation test platform, utilize the data formation object of background processing module, be the sampled signal of the sine wave of ω according to the control cycle generated frequency of Flight Control Software, and with the input of sampled signal as test; At the output terminal of test, utilize the calculating output of the data recording object record flight control software control network of background processing module 3; Last call Control Network that 4 pairs of off-line analysis modules record automatically and calculate output data and carry out frequency district characteristic analysis and handle.Draw amplitude versus frequency characte and the phase-frequency characteristic of tested module on frequencies omega.Can realize abundant test through the test of a stack features frequency to Control Network function and performance in the Flight Control Software.
2, the method for testing flow process is described
Will be in the present embodiment in conjunction with a test script is illustrated method of testing.
At first, by digital emulation platform dynamic load process control module 1, start testing process.
The first step, test initialization stage: be written into environmental simulation module 2 and background processing module 3, process control module 1 sends the Object Creation order to environmental simulation module 2 and background processing module 3, environmental simulation module 2 is created device emulation object and mathematical model simulation object according to the concrete condition and the Flight Control Software of institute's survey aircraft; Background processing module 3 is created data formation object and data recording object.Judge the state of the establishment of object,, finish test if there is Object Creation unsuccessful.
Second step, test script batch processing: be written into test script, and set up the streamline sequence of test script, test script is write according to test purpose, amplitude, frequency and the injection length etc. that comprise the input data in the definition test, the memory address of data storage, the type of record data, the control cycle of Flight Control Software and end of test (EOT) time etc.
Test script in the 3rd step, the CYCLIC LOADING streamline sequence, the dynamic test that entered for the 4th step at effective script.If test script is invalid, the script after then order loads.Behind the test script in executing all streamline sequences, withdraw from test.
The 4th goes on foot, enters dynamic test:
A, process control module 1 send the object in initialization command drive environment emulation module 2 and background processing module 3 initialization modules; Process control module 1 is written into internal memory with tested Flight Control Software.
B, virtual cpu load and move tested Flight Control Software; Set up control cycle regularly according to current test script.If do not arrive control cycle regularly, then enter the G step; Otherwise enter the C step.
C, process control module 1 carry out script to be explained, determines parameters such as the amplitude of the input data stipulated in the current test script and frequency, the memory address of specified data read-write etc.
D, need to judge whether record data, record data if desired, process control module 1 sends the data recording order, and background processing module 3 is called the data recording object data recording is arrived corresponding document, and the judgement time of the record data of wherein said theory is determined according to the definition of test script.
If E does not need record data or moved the D step, process control module 1 sends the environmental simulation order, and environmental simulation module 2 is called its object and carried out the real time environment CALCULATION OF PARAMETERS, and upgrades the original data in the mutual internal memory.
Whether F, selection inject data, inject data if desired, then process control module 1 sends data and generates order, background processing module 3 is called the data formation object and is produced corresponding signal according to frequency of stipulating in the test script and amplitude, and this signals sampling value is injected mutual internal memory as the input data; If do not need to inject data, then directly enter the G step.
G, judge to finish dynamic test according to the end of test (EOT) time of test script regulation,, then withdraw from dynamic test at current script if dynamic test finishes.
If the 5th step streamline sequence still has pending script, then returned for the 3rd step, judge back continuation execution, otherwise process control module 1 sends object unloading order, environmental simulation module 2 and background processing module 3 unloadings object separately, emulation end.
The test output data is carried out the frequency domain characteristic that Flight Control Software is exported in independently frequency-domain analysis by off-line analysis module 4, below in conjunction with Fig. 6 the workflow of off-line analysis module 4 is described.
The first step, data are read in, output data is carried out frequency-domain analysis need be imported data and carry out, thereby provide amplitude versus frequency characte and the phase-frequency characteristic of output data with respect to the input data, therefore, off-line analysis module 4 needs to read in simultaneously the log file of test script and output data in this step, the concrete data method of reading in can be written into the method for test script similar with process control module 1.
Second the step, output data is carried out frequency-domain analysis
A, in that (low-frequency range of ω * τ)＜0.17rad uses approximate approximating method that output data is carried out process of fitting treatment.The match computing can be selected form as the formula (1), carries out polynomial expansion, and the Taylor expansion form of polynomial expression and input sine wave ripple is mated, thereby can calculate low-frequency range, exports relatively and the amplitude versus frequency characte and the phase-frequency characteristic of input.
B, for (the data of the high band of ω * τ) 〉=0.17rad, because control system is more paid close attention to the responding ability of Control Network to low-frequency range, therefore output data is carried out the FFT computing, respectively input signal and output signal are carried out Fast Fourier Transform (FFT), ask near amplitude versus frequency characte and the phase-frequency characteristic of Control Network ω again.
The 3rd step, with result output, terminate offline analysis process.
Through coming out of above off-line analysis module 4, can realize frequency-domain analysis to Control Network in the aircraft.
Three, comparative analysis as a result
In this part, in conjunction with the output result of existing measuring technology, comparing property of the output result analysis of the disposal route of mentioning adopting in this example.
Carry out the frequency domain characteristic test at certain aircraft flight network, sampling period 0.005s:
1, accuracy relatively
When ω=3rad/s,
The amplitude versus frequency characte of utilizing the present invention to test to obtain is-0.48825dB, and phase-frequency characteristic is-15.2548 °.
The amplitude versus frequency characte of utilizing the waveform comparative approach to obtain is-0.48825dB that phase-frequency characteristic is-15.4699 °.
The amplitude versus frequency characte of utilizing half-practicality imitation test method to obtain is-0.48725dB that phase-frequency characteristic is-15.6653 °.
Theory of testing value wherein: amplitude versus frequency characte is-0.488dB that phase-frequency characteristic is-15.25 °.
There is this visible test result of using invention to carry out being obtained higher accuracy to be arranged than classic method.
When ω 〉=60rad/s, input data sampling point above 8192 obtained with the approaching frequency of characteristic frequency point on amplitude versus frequency characte and phase-frequency characteristic.Characteristic frequency is that the test frequency of 60rad/s is 59.978649rad/s, and characteristic frequency is that the test frequency of 120rad/s is 119.957298rad/s, and characteristic frequency is that the test frequency of 240rad/s is 240.067993rad/s.As can be seen, the test result of the characteristic frequency of use the present invention acquisition is very approaching than characteristic frequency.
2, efficiency ratio is:
The test frequency domain characteristic consumes resource under the hardware-in-the-loop simulation environment: 2 people, 2 days.And the test of using the present invention to carry out frequency domain characteristic consumes resource: 1 people 0.5 day, improved work efficiency greatly.
3, comprehensive comparison
Use the time-delay that the present invention can accurate controlled network: 0.08875s.Utilize the time domain method of testing, by step signal is analyzed, its output reaches the time of stable state greater than 0.495s.And the time-delay of adopting the waveform comparative approach to obtain is 17 sampling periods.
According to above-mentioned result of practical application as can be seen, use the frequency domain characteristic of the digital control network of the present invention in can the test flight Control Software, thereby whether final products that can the comprehensive assessment Design of Flight Control satisfy requirement of system design.
Under the situation that does not deviate from spirit of the present invention and essence thereof, those of ordinary skill in the art work as can make various corresponding changes and distortion according to the present invention, but these corresponding changes and distortion all should belong to the protection domain of the appended claim of the present invention.
The unspecified part of the present invention belongs to general knowledge as well known to those skilled in the art.
Claims (4)
1. flight control software control network frequency domain test system, it is characterized in that by moving after the Digital Simulation platform dynamic load test function module with virtual cpu and mutual internal memory, described test function module comprises: process control module (1), environmental simulation module (2) and background processing module (3), the off-line analysis module (4) that also comprises independent operating simultaneously, wherein:
Described process control module (1) is used for whole test process is controlled, and at first, in the test starting stage, sends the Object Creation order to environmental simulation module (2) and background processing module (3); After the Object Creation success, be written into test script and set up test script streamline sequence; The test script circulation that explanation effectively is written into is carried out dynamic test, last test script in the streamline sequence; In the starting stage of dynamic test, at first send initialization command to environmental simulation module (2) and background processing module (3), drive virtual cpu and load tested Flight Control Software, according to setting up the flight control cycle regularly, and whether the flight control cycle then judged when the script of time dynamic test; In the timing of flight control cycle, drive virtual cpu operation Flight Control Software then, explain test script; According to explanation to test script, upgrade or the renewal of the equipment order to environmental simulation module (2) the transmission cycle earlier, perhaps after background processing module (3) sends the data recording order, upgrade or the renewal of the equipment order to environmental simulation module (2) the transmission cycle again; Press the regulation data injection if desired of test script, then send data and generate order to background processing module (2); After data are injected and are finished, if the test duration of test script regulation, the end dynamic test, otherwise rejudge control cycle regularly, and circulation is carried out; After the test that has finished all test scripts, send object unloading order to environmental simulation module (2) and background processing module (3); Finish test;
Described environmental simulation module (2), the real time execution environment that is used for the simulated flight Control Software, comprise device emulation object that is used for simulated flight Control Software operation hardware environment and the mathematical model simulation object that is used for simulated flight Control Software service data environment, wherein said device emulation object comprises interrupt control device model, communication control unit model and the comprehensive port model of flight-control computer, order according to process control module (1) is operated, when receiving the Object Creation order, create device emulation object and mathematical model simulation object; When receiving initialization command, initialization apparatus simulation object and mathematical model simulation object; The cycle of receiving calls the simulation calculation that the mathematical model simulation object carries out the flight control environment, and upgrades the data in the mutual internal memory during update command; When receiving the renewal of the equipment order, the invocation facility simulation object carries out the simulation calculation of hardware environment, and upgrades the data in the mutual internal memory; When receiving object unloading order, unloading mathematical model simulation object and device emulation object;
Described background processing module (3), be used for producing test input data and logging test results, comprise data formation object and data recording object, order according to process control module (1) is operated accordingly, when receiving the Object Creation order, create data formation object and data recording object; When receiving initialization command, carry out data formation object and the initialization of data recording object; Receive when data generate order, generate test input data, and data are injected mutual internal memory according to the address of appointment in the test script by the data formation object; When receiving the data recording order, will test output data by the data recording object and record in the log file; When receiving object unloading order, unloading data formation object and data recording object;
Off-line analysis module (4), be used for the result of test is analyzed, at first read in the log file of test script and test output data, then the data in two files are handled respectively, in that (low-frequency range of ω * τ)＜0.17rad is carried out the processing that fits of Bsin (ω t+ θ)=B (ω t+ θ), wherein B is the amplitude of signal, θ is a phase place, and ω is an angular velocity, and τ is time-delay; In that (high band of ω * τ) 〉=0.17rad carries out fast fourier transform, calculates amplitude versus frequency characte and the phase-frequency characteristic of output test output data with respect to the input data at last.
2. flight control software control network frequency domain test system according to claim 1, it is characterized in that described background processing module (3), receive when data generate order that the data formation object is according to specified amplitude, frequency computation part in the test script and generate the sampled value of corresponding Test input signal.
3. flight control software control network frequency domain test method is characterized in that realizing by following steps:
The first step, initialization, process control module (1) sends the Object Creation order: loading environment emulation module (3), create device emulation object and mathematical model simulation object, the hardware environment that wherein said device emulation object is used for the operation of simulated flight Control Software comprises interrupt control device model, communication control unit model and the comprehensive port model of flight-control computer, and described mathematical model simulation object is to being used for the data environment of simulated flight Control Software operation; Load background processing module (4), create data formation object and data recording object,, finish test if the Object Creation in environmental simulation module (3) or the background processing module (4) is unsuccessful;
In second step, process control module (1) is written into test script, sets up the streamline sequence of test script;
In the 3rd step, process control module (1) order reads the Validity Test script in the script pipeline sequence, enters dynamic test, and circulation is carried out this step up to the streamline EOS;
In the 4th step, process control module (1) sends object unloading order, and unloading environmental simulation module (3) and background processing module (4) finish test;
Described dynamic test realizes by following steps:
The first step, dynamic test initialization,
A, process control module (1) send initialization command, the object in initialization context emulation module (3) and the background processing module (4);
B, be written into tested Flight Control Software;
C, according to current test script, set up the flight control cycle regularly;
Second step, dynamic test
A, virtual cpu move tested Flight Control Software in control cycle; Process control module (1) carries out control cycle judgement regularly, if then, then enters the b step, otherwise enters the d step;
B, process control module (1) carry out script to be explained, record data if desired, process control module (1) sends the data recording order, background processing module (4) is called the current test data of data recording object record, process control module (1) cycle of sending upgrades or the renewal of the equipment order then, environmental simulation module (3) calls the mathematical model simulation object or the device model simulation object carries out the environmental parameter renewal, if do not need record data, directly carries out environmental parameter and upgrades;
C, inject data if desired, then process control module (1) sends data and generates order, and background processing module (4) is called the data formation object and generated new test input data and will test input data injection internal memory according to the memory address of test script regulation; Otherwise directly enter the d step;
D, process control module (1) judge according to the end of test (EOT) time of stipulating in the test script whether dynamic test finishes, if do not finish, then get back to a;
In the 3rd step, dynamic test finishes;
Described off-line analysis is realized by following steps:
The first step, read test script and test output data;
Second step, (low-frequency range of ω * τ)＜0.17rad is carried out the computing that fits suc as formula (1),
Bsin(ωt+θ)＝B(ωt+θ) (1)
Wherein, B is the amplitude of signal, and θ is a phase place, and ω is an angular velocity, and τ is time-delay;
In that (high band of ω * τ) 〉=0.17rad carries out fast fourier transform;
In the 3rd step, calculate amplitude-frequency and phase-frequency characteristic that output data is imported data relatively;
The 4th step, output result of calculation, terminate offline analysis.
4. flight control software control network frequency domain test method according to claim 3 is characterized in that described dynamic test is by the amplitude of the explanation of test script being determined the input data and memory address, data recording address, input sample signal injection length, test output data record type and the end of test (EOT) time that frequency, test 0 point, data are injected.
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| CN105224428A (en) * | 2015-07-29 | 2016-01-06 | 上海新跃仪表厂 | The arrow borne computer dynamic characteristic test method and system of control signal digital transmission |
| CN109086240A (en) * | 2018-08-28 | 2018-12-25 | 中国科学院长春光学精密机械与物理研究所 | A kind of injected system and method for space loading remote-control data |
| CN110046325A (en) * | 2019-04-23 | 2019-07-23 | 中国科学院光电技术研究所 | A kind of frequency-response analysis method of simple and convenient polynomial fitting |
| CN114281099A (en) * | 2021-11-26 | 2022-04-05 | 中国航空工业集团公司西安飞行自动控制研究所 | Black box aircraft model instruction identification method |
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