CN101916205B - 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 for control network in the flight control system, belong to field tests.
Background technology
Flight control system is widely used computer control, processing and normally finish first the continuous system design during Control System Design 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, will control network calculations during the Flight Control Software design and be divided into foreground calculating and two parts of hind computation.When a control cycle begins, carry out first Guidance Law and calculate, finish subsequently the foreground of control network and calculate, then to topworks's output control command, finish at last the hind computation of control network.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 function and the performance requirement of system.
At present control specialty is mainly come the various performances of access control system by Hardware-in-loop Simulation Experimentation.Although used real flight computer, but need to use the professional test equipment such as simulated test platform during owing to test, so must comprise multiple instrumental error and the measuring accuracy error of being introduced by equipment in the test data, these errors also may exist and much be difficult to the coupled relation analyzed, thereby have affected the accuracy of test data.Whether the main test flight control of software test specialty software correctly realized control algolithm according to the requirement of charter, generally carries out the time domain checking, with the input of step signal as control network calculations 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 for abundant, accurate, the 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 simultaneously independent operating, 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; Explain that the test script that effectively is written into loops dynamic test, until 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, fly control cycle regularly according to setting up when the script of time dynamic test, and whether the flight control cycle is then judged; Then in the timing of flight control cycle, drive virtual cpu operation Flight Control Software, explain test script; According to the explanation to test script, first to the renewal of environmental simulation module transmission cycle or renewal of the equipment order, perhaps after the order of background processing module transmission data recording, again to the renewal of environmental simulation module transmission cycle or renewal of the equipment order; If the regulation by test script needs data to inject, then send data to background processing module and generate order; 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 loop; 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 run-time environment that is used for simulated flight control software, comprise for simulated flight and control the device emulation object of running software hardware environment and be used for the mathematical model simulation object that the running software data environment is controlled in simulated flight, wherein said device emulation object comprises interruption opertaing device model, communication control unit model and the comprehensive port model of flight-control computer, order according to process control module operates, 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 flies and controls 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, for generation of 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 data recording object initialization; Receive to generate the test input data by the data formation object when data generate order, and according to the address of appointment in the test script data are injected mutual internal memory; When receiving the data recording order, will test the output data by the data recording object and be recorded 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 processed 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 phase place, and ω is angular velocity, and τ is time-delay; In that (high band of ω * τ) 〉=0.17rad carries out fast fourier transform, calculates at last output test output data with respect to amplitude versus frequency characte and the phase-frequency characteristic of input data.
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 simulated flight control running software comprises interruption opertaing 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 running software; Load background processing module, create data formation object and data recording object, if the Object Creation in environmental simulation module or the background processing module is unsuccessful, finish test;
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 sequentially reads the Validity Test script in the script pipeline sequence, enters dynamic test, loops this step until 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, if need record data, process control module sends the data recording order, the current test data of background processing module calling data record object record, then the process control module cycle of sending upgrades or the renewal of the equipment order, the environmental simulation module 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;
If c needs injecting data, then process control module sends data and generates order, and background processing module calling data formation object generates new test input data and according to the memory address that test script is stipulated the test input data injected internal memory; Otherwise directly enter the d step;
D, process control module judge according to the test concluding 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 phase place, and ω is 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 the output data are inputted 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 time, test output data record types and the test concluding 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 for test data simultaneously, improve the comprehensive of test.
(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 system chart of the present invention;
Fig. 2 is test main flow chart of the present invention;
Fig. 3 is 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;
Fig. 7 is the data file figure that environmental simulation module of the present invention reads.
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 being loaded on the Digital Simulation platform of equal capable of dynamic are moved, described Digital Simulation platform is for the platform of internal storage access with the operation control interface can be provided, such as products such as Keil51 and Vtest.Described virtual cpu is the parts of Digital Simulation platform.Described off-line analysis module 4 is processed the output data after testing process finishes, from frequency domain Flight Control Software analyzed, and the output Measurement results.
1, process control module 1
The below provides the form of test script:
[fault is injected and is made]
The # start time; Concluding time; Variate-value (or ripple frequency); Wave amplitude; Types of variables; Fault type; Memory address when fault is injected; Name variable
[test concluding 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 was read zone bit " [fault is injected and made] ", following parameter was sequentially read in beginning; When reading zone bit when " [test concluding time] ", the test run time after reading, behind " 1=150 " representative operation 150s, finish the test to current script.
2, the environmental simulation module 2
Environmental simulation module 2 is used for the run-time environment of simulated flight device Flight Control Software.Wherein, described mathematical model simulation object is used for the data environment of simulated flight control running software; in concrete design process, can be by to vehicle dynamics model, kinematics model with responsively carry out modeling with measurement model or by reading the methods such as the data file realization of pre-defined aircraft flight.In the present embodiment, adopted by reading corresponding data file and realized simulation to 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 running software, carry out modeling according to the hardware device model in the aircraft, comprise and interrupt the opertaing device model, the comprehensive port model of communication control unit model and flight-control computer, adopted in the present embodiment general chip design, therefore can be with reference to handbook or the relevant books of concrete chip to the hardware environment model, such 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 all the time the state that receives order of waiting for, utilize the wait of circulation 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, again return the state that receives order of waiting for.As an example of initialization command example the processing procedure of order described, the complete order that at first will receive by the data structure enum MESSAGE definition of enumerating, 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 the data in the test process are processed.Wherein said data formation object is used for the test input data are processed, and described data recording object is used for testing the log file that the output data are recorded to test output data.As shown in Figure 5, similar to the design concept of this module and disposal route and environmental simulation module 2, when receiving that data generate order, the calling data formation object, amplitude and the frequency of the input data that the data formation object obtains after explaining according to 1 pair of script of process control module 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, calling data record object, the content that the data recording object is explained according to script reads from the memory address of appointment in the data and data writing log file of respective type.The data communication device of wherein storing in the internal memory is crossed the real-time renewal of virtual cpu that operation has Flight Control Software.
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 is by adopting respectively FFT and fitting of a polynomial computing to realize in the height frequency range.
(low-frequency range of ω * τ)＜0.17rad can select the match computing suc as formula shown in (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 angular velocity.Match point selects value data to occur to become positive adjacent 2 points by bearing.
And for the test of Flight Control Software more Focus Control software to the responding ability of low frequency signal.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.
By output signal is carried out this type of processing in the height frequency range, realization is to the frequency domain characteristic of control network, and as being Asin (ω t) when the input data of injecting, the output data are 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 the 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; The control network calculations output data that last 4 pairs of Automatically invoked off-line analysis modules are recorded to are carried out frequency district characteristic analysis and are processed.Draw amplitude versus frequency characte and the phase-frequency characteristic of tested module on frequencies omega.Test through a stack features frequency can realize controlling the abundant test of network function and performance in the Flight Control Software.
2, the method for testing flow process is described
In the present embodiment in connection 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 creates device emulation object and mathematical model simulation object according to concrete condition and the Flight Control Software of institute's survey aircraft; Background processing module 3 creates data formation object and data recording object.Judge the state of the establishment of object, if there is Object Creation unsuccessful, finish test.
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 test concluding time etc.
Test script in the 3rd step, the CYCLIC LOADING streamline sequence, the dynamic test that entered for the 4th step for 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 the 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, if need record data, process control module 1 sends the data recording order, and background processing module 3 calling datas record object records data to 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 the calculating that its object carries out the real time environment parameter, and upgrades the original data in the mutual internal memory.
F, whether select injecting data, if need injecting data, then process control module 1 sends data and generates order, background processing module 3 calling data formation objects also produce corresponding signal according to the frequency of stipulating in the test script and amplitude, and the sampled value of this signal is injected mutual internal memory as the input data; If do not need injecting data, then directly enter the G step.
G, judge to finish dynamic test according to the test concluding time of test script regulation, if dynamic test finishes, then withdraw from the dynamic test for current script.
If the 5th step streamline sequence still has pending script, then returned for the 3rd step, judge rear continuation execution, otherwise process control module 1 sends object unloading order, environmental simulation module 2 and background processing module 3 unloadings object separately, emulation finishes.
Test output data communication device is crossed the frequency domain characteristic that off-line analysis module 4 is carried out independently frequency-domain analysis output Flight Control Software, below in conjunction with Fig. 6 the workflow of off-line analysis module 4 is described.
The first step, data are read in, the output data are carried out frequency-domain analysis need to be inputted data and carry out, thereby provide the output data with respect to amplitude versus frequency characte and the phase-frequency characteristic of 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 step, to output data carry out frequency-domain analysis
A, in that (low-frequency range of ω * τ)＜0.17rad uses approximate approximating method that the output data are carried out process of fitting treatment.The match computing can be selected to carry out polynomial expansion suc as formula form shown in (1), and the Taylor expansion form of polynomial expression and input sine wave ripple is mated, thereby can calculate low-frequency range, relative amplitude versus frequency characte and the phase-frequency characteristic with inputting of output.
B, for (the data of the high band of ω * τ) 〉=0.17rad, since control system more the Focus Control network to the responding ability of low-frequency range, therefore the output data are carried out the FFT computing, respectively input signal and output signal are carried out Fast Fourier Transform (FFT), ask for again near amplitude versus frequency characte and the phase-frequency characteristic of control network ω.
The 3rd step, with result output, terminate offline analysis process.
Through above off-line analysis module 4 out, can realize controlling the frequency-domain analysis of network in the aircraft.
Three, as a result comparative analysis
In this part, in conjunction with the Output rusults of existing measuring technology, to adopting comparing property of the Output rusults analysis of the disposal route of mentioning in this example.
Carry out the frequency domain characteristic test for 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 obtaining than classic method higher accuracy to be arranged.
When ω 〉=60rad/s, input data acquisition sampling point surpass 8192 obtained with the approaching frequencies of characteristic frequency point on amplitude versus frequency characte and phase-frequency characteristics.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.Can find out that the test result of the characteristic frequency that use the present invention obtains is very approaching than characteristic frequency.
2, efficient is relatively:
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.
Can find out according to above-mentioned result of practical application, use the frequency domain characteristic of the digital control network of the present invention in can test flight control software, thereby whether final products that can the comprehensive assessment Design of Flight Control satisfy requirement of system design.
In 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 according to the present invention various corresponding changes and distortion, 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, described test macro comprises Digital Simulation platform and the test function module with virtual cpu and mutual internal memory, 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 simultaneously independent operating, 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; Explain that the test script that effectively is written into loops dynamic test, until 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, fly control cycle regularly according to setting up when the script of time dynamic test, and whether the flight control cycle is then judged; Then in the timing of flight control cycle, drive virtual cpu operation Flight Control Software, explain test script; According to the explanation to test script, first to the renewal of environmental simulation module transmission cycle or renewal of the equipment order, perhaps after the order of background processing module transmission data recording, again to the renewal of environmental simulation module transmission cycle or renewal of the equipment order; If the regulation by test script needs data to inject, then send data to background processing module and generate order; After data are injected and finished, if arrive the test concluding time of test script regulation, finish dynamic test, otherwise rejudge control cycle regularly, and loop; 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 run-time environment that is used for simulated flight control software, comprise for simulated flight and control the device emulation object of running software hardware environment and be used for the mathematical model simulation object that the running software data environment is controlled in simulated flight, wherein said device emulation object comprises interruption opertaing device model, communication control unit model and the comprehensive port model of flight-control computer, order according to process control module operates, 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 flies and controls 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, for generation of 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 data recording object initialization; Receive to generate the test input data by the data formation object when data generate order, and according to the address of appointment in the test script data are injected mutual internal memory; When receiving the data recording order, will test the output data by the data recording object and be recorded 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 processed 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 phase place, and ω is angular velocity, and τ is time-delay; In that (high band of ω * τ) 〉=0.17rad carries out fast fourier transform, calculates at last output test output data with respect to amplitude versus frequency characte and the phase-frequency characteristic of input data.
2. flight control software control network frequency domain test system according to claim 1, it is characterized in that described background processing module, 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 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 simulated flight control running software comprises interruption opertaing 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 running software; Load background processing module, create data formation object and data recording object, if the Object Creation in environmental simulation module or the background processing module is unsuccessful, finish test;
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 sequentially reads the Validity Test script in the script pipeline sequence, enters dynamic test, loops this step until 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;
In the 5th step, the test output data that obtain are carried out off-line analysis after the 4th step;
Described dynamic test realizes by following steps:
The first step, the 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, if need record data, process control module sends the data recording order, the current test data of background processing module calling data record object record, then the process control module cycle of sending upgrades or the renewal of the equipment order, the environmental simulation module 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;
If c needs injecting data, then process control module sends data and generates order, and background processing module calling data formation object generates new test input data and according to the memory address that test script is stipulated the test input data injected internal memory; Otherwise directly enter the d step;
D, process control module judge according to the test concluding 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 phase place, and ω is 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 the output data are inputted 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 time, test output data record types and the test concluding time that frequency, test 0 point, data are injected.
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| CN109086240B (en) * | 2018-08-28 | 2020-10-27 | 中国科学院长春光学精密机械与物理研究所 | Injection system and method for space load remote control data |
| CN110046325B (en) * | 2019-04-23 | 2022-11-11 | 中国科学院光电技术研究所 | Simple and convenient frequency characteristic analysis method of polynomial fitting algorithm |
| CN114281099B (en) * | 2021-11-26 | 2024-05-24 | 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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