CN102411313A - Satellite flight control closed loop simulation system based on component simulator - Google Patents
Satellite flight control closed loop simulation system based on component simulator Download PDFInfo
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Abstract
The invention provides a satellite flight control closed loop simulation system based on a component simulator, which is applied to a system comprising a dynamics simulation server, a sensor simulator, an actuator simulator and a space-borne computer, wherein the formula of data output by the sensor simulator to the space-borne computer is the same as that of data output by a practical sensor to the space-borne computer, and the format of data received by the actuator simulator from the space-borne computer, i.e., the format of data input by an actuator is the same as that of data input by a practical actuator, so that the simulation reliability of the satellite flight control closed loop simulation system can be enhanced effectively; the component simulator is adopted instead of a real physical device, so that the simulation system has the advantages of low cost and low complexity; and meanwhile, the simulation system has the characteristics of high generality, high flexibility and high automatic degree, so that the research period of a satellite can be shortened effectively, and the research cost of the satellite is reduced.
Description
Technical field
The invention belongs to the satellite simulation technical field of measurement and test, be specifically related to a kind of satellite flight control closed-loop simulation system based on the parts simulator.
Background technology
In the aerospace engineering field; Because the development cost of satellite is higher; And the running environment of satellite is very complicated abominable, so, generally all need carry out emulation to the flight control system of satellite; Thereby the correctness of the conceptual design of the flight control system of verifying satellites, and the function and the performance of the flight control system of check satellite.
Usually, the flight control analogue system of satellite can adopt semi-physical simulation and full physical simulation.Wherein, In the full physical simulation system; Because various actual physical devices are directly inserted the emulation loop, thus these actual physical devices can intuitively and effectively be reflected among the result of l-G simulation test the simulation control subsystem Effect on Performance, thereby have the simulation Credibility advantage of higher; But use various actual physical devices directly to increase the cost and the complexity of analogue system, thereby limited the range of application of full physical simulation system.In the semi-physical system; Hardware is participated in the emulation loop; Part hardware adopts the mode of mathematical simulation again simultaneously, that is: semi-physical system has combined mathematical simulation and physical simulation, therefore; Semi-physical system has low, the simple to operate and simulation Credibility advantages of higher of cost, in satellite control analogue system, uses extensively.
In the existing semi-physical system; Sensor or actuator have following two kinds of modes that insert satellite control analogue system: (1) adopts the mode of mathematical simulation to insert satellite control analogue system; That is: utilize computing machine sensor or actuator to be carried out emulation according to the mathematical simulation of correspondence; But the sensor of this method emulation output or actuator data layout are different with the data layout of sensor or the output of actuator actual physical device; That is: this method does not have to realize carrying out the effect of emulation by the mode of operation of actual physical device, thereby has influenced the confidence level of simulation result.(2) adopt mode in kind to insert satellite control analogue system, that is: real sensor or actuator are directly inserted in the satellite control analogue system, owing to adopt the actual physical device, thus increased the cost and the complexity of analogue system.
Therefore, seeking a kind ofly can effectively increase sensor or the actuator confidence level in satellite control analogue system, does not increase the cost of analogue system and the method for complexity again simultaneously, has important practical significance.
Summary of the invention
Defective to the prior art existence; The present invention provides a kind of satellite flight control closed-loop simulation system based on the parts simulator, because the data layout of the parts simulator that is adopted output or input is identical with the data layout that inputs or outputs of corresponding actual physical parts, can effectively simulate corresponding actual physical functions of components; So can effectively improve the simulation Credibility of satellite flight control closed-loop simulation system; Be the parts simulator owing to what adopt again, rather than the actual physical device that adopts, so have the advantage that the analogue system cost is low, complexity is low again; Also have highly versatile, dirigibility is strong, automaticity is high characteristics simultaneously; Therefore, can effectively shorten the lead time of satellite, reduce the development cost of satellite.
The technical scheme that the present invention adopted is following:
The present invention provides a kind of satellite flight control closed-loop simulation system based on the parts simulator, is applied to comprise in the system of dynamics simulation server, sensor simulator, actuator simulator and spaceborne computer, may further comprise the steps:
(1) said dynamics simulation server obtains the orbit parameter information and the attitude quaternion information of current satellite according to the satellite dynamics mathematical model that prestores and initial control information and initial control moment information calculations, and this orbit parameter information and attitude quaternion information are sent to said sensor simulator;
(2) said sensor simulator receives said orbit parameter information and attitude quaternion information; And the combination sensor mathematical model corresponding with said sensor simulator carried out simulation calculation; Obtain the analog measurement of said sensor; And the data layout of this analog measurement is converted into the data layout of true measurement, obtain true form analog measurement, and should true form analog measurement send to said spaceborne computer; Wherein, the data layout of said true form analog measurement is the data layout of actual sensor actual output in the real satellite control system;
(3) said spaceborne computer receives said true form analog measurement; And calculate according to the satellite targeted attitude information that prestores and/or satellite target track information and control algolithm; Controlled instruction, and this steering order sent to said actuator simulator; Wherein, the data layout of said steering order is the actual actuator data layout that actual reception arrives in the real satellite control system;
(4) said actuator simulator receives said steering order; And the data layout of this steering order is converted into the data layout of simulation steering order; Obtain said simulation steering order; Carry out simulation calculation according to the mathematical model of said simulation steering order and the actuator corresponding that prestore then, obtain new control information and new control moment information with said actuator simulator, and will this new control information and new control moment information send to said dynamics simulation server;
(5) said dynamics simulation server is with said new control information that receives and new said initial control information of control moment information updating and initial control moment information; Repeated execution of steps (1)-(5) then; Up to reaching preset simulation time, finish above-mentioned flow process.
Preferably, the satellite dynamics mathematical model comprises attitude of satellite kinetic model and satellite orbit kinetic model described in the step (1).
Preferably, the data layout of analog measurement is the data layout that meets Ethernet protocol described in the step (2); The data layout of said true form analog measurement is the data layout that meets the CAN agreement; The data layout of steering order is the data layout that meets the CAN agreement described in the step (3), and the data layout of the steering order of simulation described in the step (4) is the data layout that meets Ethernet protocol.
Preferably, said sensor simulator comprises: one or more in star sensor simulator, sun sensor simulator, magnetometer simulator, optical fibre gyro simulator, the GPS simulator;
Said actuator simulator comprises: one or more in flywheel simulator, magnetic torquer simulator, the thruster simulator.
Preferably, said sensor simulator comprises: sensor emulation server and sensor data interface convertor;
Said sensor emulation server is used for: the mathematical model of the sensor corresponding with said sensor simulator that the said orbit parameter information and the combination of attitude quaternion information from said dynamics simulation server that will receive prestores is carried out simulation calculation; Obtain the analog measurement of said sensor, and this analog measurement is sent to said sensor data interface convertor;
Said sensor data interface convertor is used for the said analog measurement that receives is converted into true form analog measurement, and should true form analog measurement send to said spaceborne computer.
Preferably, said sensor data interface convertor is single or a plurality of; Each sensor data interface convertor is used for the data layout of the analog measurement that belongs to same type of sensor is converted into the data layout of true form analog measurement and/or the data layout that each sensor data interface convertor is used for the data layout of the analog measurement that belongs to the inhomogeneity sensor is converted into true form analog measurement.
Preferably, said actuator simulator comprises: actuator emulation server and actuator data-interface converter;
Said actuator data-interface converter is used to receive the steering order from said spaceborne computer; And the data layout of this steering order is converted into the data layout of simulation steering order; Obtain said simulation steering order, should simulate steering order then and send to said actuator emulation server;
Said actuator emulation server is used to receive the simulation steering order from said actuator data-interface converter; Carry out simulation calculation according to the said simulation steering order and the mathematical model of the said actuator that prestores then; Obtain new control information and new control moment information, and will this new control information and new control moment information send to said dynamics simulation server.
Preferably, said actuator data-interface converter is single or a plurality of; Each actuator data-interface converter is used for the data layout of the steering order that belongs to same type of actuator is converted into the data layout of simulation steering order and/or the data layout that each actuator data-interface converter is used for the data layout of the steering order that belongs to the inhomogeneity actuator is converted into the simulation steering order.
Preferably; Also comprise: data storage server; Said data storage server links to each other with said spaceborne computer; Said true form analog measurement that said spaceborne computer will receive and the said steering order that calculates send to said data storage server, are stored by said data-carrier store.
Preferably; Also comprise: land station's simulator; Said land station simulator receives the orbit parameter information and the attitude quaternion information of the current satellite of this satellite flight control closed-loop simulation system transmission; Then, draw and the kinematic parameter that shows received said current satellite curve over time; And/or said land station simulator receives the orbit parameter information and the attitude quaternion information of the current satellite that this satellite flight control closed-loop simulation system sends, and then, stores and shows that said actuator simulator exports to the information of said emulation server; And/or said land station simulator receives the orbit parameter information and the attitude quaternion information of the current satellite that this satellite flight control closed-loop simulation system sends, and then, stores and shows that said sensor simulator exports to the information of said spaceborne computer.
Beneficial effect of the present invention is following: the satellite flight control closed-loop simulation system based on the parts simulator provided by the invention; The parts simulator that is adopted is sensor simulator and actuator simulator, because sensor simulator is identical to the data layout of spaceborne computer output with actual sensor to the data layout of spaceborne computer output, and; The data layout that the actuator simulator receives from spaceborne computer; The data layout that is the actuator input is identical with the data layout of actual actuator input, so can effectively improve the simulation Credibility of satellite flight control closed-loop simulation system, is the parts simulator owing to what adopt again; Rather than the actual physical device that adopts; So have the advantage that the analogue system cost is low, complexity is low again, also have highly versatile, dirigibility is strong, automaticity is high characteristics simultaneously, therefore; Can effectively shorten the lead time of satellite, reduce the development cost of satellite.
Description of drawings
A kind of analogue system that Fig. 1 provides for the embodiment of the invention one is carried out the schematic flow sheet of closed-loop simulation;
The circuit module figure of CPU board in the spaceborne computer that Fig. 2 provides for the embodiment of the invention one;
The structural representation that Fig. 3 provides for the embodiment of the invention two based on the satellite flight of parts simulator control closed-loop simulation system.
Embodiment
Below in conjunction with accompanying drawing concrete embodiment of the present invention is described.
Embodiment one
The embodiment of the invention provides a kind of satellite flight control closed-loop simulation system based on the parts simulator; Be applied to comprise in the system of dynamics simulation server, sensor simulator, actuator simulator and spaceborne computer; As shown in Figure 1; A kind of analogue system that provides for the embodiment of the invention is carried out the schematic flow sheet of closed-loop simulation, may further comprise the steps:
Step 101: satellite dynamics mathematical model that said dynamics simulation server basis prestores and initial control information and initial control moment information calculations obtain the orbit parameter information and the attitude quaternion information of current satellite, and this orbit parameter information and attitude quaternion information are sent to said sensor simulator.
Wherein, said satellite dynamics mathematical model comprises attitude of satellite kinetic model and satellite orbit kinetic model.
Sensor simulator comprises: one or more in star sensor simulator, sun sensor simulator, magnetometer simulator, optical fibre gyro simulator, the GPS simulator.
In actual emulation was used, the dynamics simulation server can adopt workstation to constitute, and is separately installed with the above operating system of Windows XP x64 version, Visual Studio 6.0 on it with first-class software development environment.
Step 102: said sensor simulator carries out simulation calculation according to said orbit parameter information that receives and attitude quaternion information with the mathematical model of the sensor corresponding with said sensor simulator that prestores; Obtain the analog measurement of said sensor; And the data layout of this analog measurement is converted into the data layout of true measurement; Obtain said true form analog measurement, and should true form analog measurement send to said spaceborne computer; Wherein, the data layout of said true form analog measurement is the data layout of actual sensor actual output in the real satellite control system.
In this step; Because after sensor simulator carries out simulation calculation; The data layout of the analog measurement of the sensor that obtains is different with the data layout of the true device output of sensor in the real satellite system, so, in order to improve simulation Credibility; According to the type of the data layout of the true device of different sensors output, the present invention is converted into the data layout of analog measurement the data layout of true measurement.For example: in the existing real satellite system; Be through CAN (Controller Area Network between on-board equipment; Controller local area network) bus is carried out data communication, that is to say, the data layout of sensor output is the type of data format that meets the CAN agreement on the star; And in the analogue system; The data layout of sensor simulator output often is the Ethernet data form, therefore, can realize the conversion of data layout between analog measurement and true measurement through Ethernet/CAN interface convertor is set.The concrete system that Ethernet/CAN interface convertor is set between sensor simulator and spaceborne computer repeats no more at this referring to embodiment two.
In addition, in this step, the output data of sensor simulator directly is uploaded to spaceborne computer, and directly to be uploaded to spaceborne computer identical with the output of the true device of sensor in the real satellite control system, thereby improved simulation Credibility.
Step 103: said spaceborne computer receives said true form analog measurement; And calculate according to the satellite targeted attitude information that prestores and/or satellite target track information and control algolithm; Controlled instruction, and this steering order sent to said actuator simulator; Wherein, the data layout of said steering order is the actual actuator data layout that actual reception arrives in the real satellite control system.
Wherein, said actuator simulator comprises: one or more in momenttum wheel simulator, magnetic torquer simulator, the thruster simulator.
In this step; Spaceborne computer is directly exported to the actuator simulator with steering order; Thereby directly control the action of actuator simulator, this with the real satellite control system between device driving relationship identical, and in the prior art; The steering order of spaceborne computer output need at first be transferred to simulation computer, controls the action of actuator simulator again through simulation computer.Therefore, among the present invention,, thereby improved simulation Credibility through the direct actuate actuators simulator of spaceborne computer.
In addition, in this step, spaceborne computer is identical with the actual actuator data layout that actual reception arrives in the real satellite control system to the data layout of the steering order of actuator simulator output, thereby has also improved simulation Credibility.
In actual emulation was used, spaceborne computer can be by the employing of six institutes of University of Science and Technology for National Defence exploitation based on the dual CAN bus structure of ARM (Advanced RISC Machines) processor and the computing machine of operation (SuSE) Linux OS.Spaceborne computer by power supply arbitrate plate, communication backplane, cabinet and interface, CPU board is formed.Power supply arbitration plate provides spaceborne computing platform required various supply voltages; For example: 5V, 3.3V, 1.8V, 1.5V etc.; And contain a two-shipper temperature and be equipped with control module; Be used for accepting the heartbeat signal of principal and subordinate's machine, and send look-at-me, Restart Signal and main frame marking signal respectively according to the state of two CPU boards; Communication backplane is used for the connection of signal between each plate; Comprise communicating by letter between CPU board and CPU board, CPU board and the power supply arbitration plate; A dual port RAM (Random Access Memory is arranged on the backboard; RAS), mainly is responsible for dual-machine communication, guarantees that the data that collect can not lose because of hostdown; CPU board is a complete single board computer, and is as shown in Figure 2, the circuit module figure of CPU board in the spaceborne computer that provides for present embodiment, and principal character is following: the CPU model is AT91RM9200,200MIPS180MHz; PROM (Programmable Read-Only Memory, programmable read only memory) is 32KB; SRAM (StaticRandom Access Memory, static RAM) is 6MB; FLASH is 16MB; Comprise various interface; Interface is mainly used in the spaceborne computer platform and controls being connected of platforms with other; Specifically comprise: RS232 interface, TAG interface, network interface, with the dual CAN bus interface of external device communication etc., also carried out anti-SEL protection to Primary Component in this CPU board; Spaceborne computer also comprises: cabinet, cabinet are used for fixing and spaceborne computing platform is installed, and specification is: volume: the wide * height of long * is 186 * 134 * 194mm
3, weight is 1.9kg.The program module of on spaceborne computer, moving mainly comprises: satellite orbit control algolithm module, the attitude of satellite control algoritic module, remote measurement and signal procedure module, LINUX operating system and CAN interface routine module.
Step 104: said actuator simulator receives said steering order; And the data layout of this steering order is converted into the data layout of simulation steering order; Obtain said simulation steering order; Carry out simulation calculation according to the said simulation steering order and the mathematical model of the actuator corresponding that prestores then with said actuator simulator; Obtain new control information and new control moment information, and will this new control information and new control moment information send to said dynamics simulation server.
Step 105: said dynamics simulation server is with said new control information that receives and new said initial control information of control moment information updating and initial control moment information; Repeated execution of steps 101-105 then; Up to reaching preset simulation time, finish above-mentioned flow process.
Need to prove that the satellite flight control closed-loop simulation system that present embodiment provides is when carrying out emulation, analogue system can judge whether to reach preset simulation time at any time, if do not reach, then repeats simulation process; If reach, process ends then.
In addition; The satellite flight control closed-loop simulation system that present embodiment provides also comprises: data storage server; Said data storage server links to each other with said spaceborne computer; Said true measurement that said spaceborne computer will receive and the said steering order that calculates send to said data storage server, are stored by said data-carrier store.
Concrete, data storage server adopts the PC structure, and its operating system is Windows XPProfessional.Data storage server is connected with spaceborne computer through straight-through RS232 Serial Port Line, the ethernet line that intersects.On data storage server, set up a hyper terminal, start hyper terminal, give after the spaceborne computer electrifying startup, the running status of spaceborne computer can show on the hyper terminal of data storage server.A software virtual machine is installed on the data storage server machine; The operating system of virtual machine is Red Hat9; Virtual machine on the log-on data storage server machine copies to the satellite flight control program of good development on the virtual machine, and compiling link flight control program generates an executive routine on virtual machine; Copy to this executive routine on the data storage server machine; Tftp on the log-on data storage server machine (Trivial FileTransfer Protocol, TFTP) adopts tftp that executive routine is downloaded on the flash module of spaceborne computer.
Also comprise: land station's simulator; Said land station simulator receives the orbit parameter information and the attitude quaternion information of the current satellite of this satellite flight control closed-loop simulation system transmission; Then, draw and the kinematic parameter that shows received said current satellite curve over time; And/or said land station simulator receives the orbit parameter information and the attitude quaternion information of the current satellite that this satellite flight control closed-loop simulation system sends, and then, stores and shows that said actuator simulator exports to the information of said emulation server; And/or said land station simulator receives the orbit parameter information and the attitude quaternion information of the current satellite that this satellite flight control closed-loop simulation system sends, and then, stores and shows that said sensor simulator exports to the information of said spaceborne computer.
Concrete, land station's simulator connects through Serial Port Line and a wireless network transceiver, from the wireless network transceiver reading of data.In addition, LabView software has been installed on land station's simulator, has been used this software to develop a patterned interface, the time dependent curve plotting of various parameters has been come out.
The analogue system that present embodiment provides also comprises: CAN changes ethernet device, and CAN changes ethernet device and is specially TNode-232, mainly realizes the interface conversion work that the CAN net is communicated by letter with Ethernet data.The groundwork of this equipment is to accomplish interface configuration.
Also comprise: wireless network transceiver.Concrete, in the closed-loop simulation loop, can use two wireless network transceiver, that is: first wireless network transceiver and second wireless network transceiver.Wherein, first wireless network transceiver is used to receive the data that need pass to land station's simulator on the CAN bus, sends to land station's simulator through wireless network then; Second wireless network transceiver is used to receive the data that transmit from first wireless network transceiver, and gives land station's simulator with this data transmission.
Also comprise: high speed switch.Concrete, can adopt the configurable switch of 100M Cisco, be used to realize the quick exchange of each circuit-switched data.
Also comprise: organize the output DC source more.This power supply can be exported the voltage of different amplitudes, and being used for changes ethernet device, Ethernet switch, wireless network transceiver power supply to spaceborne computer, CAN.
In the present embodiment; On the one hand; Sensor simulator directly sends to spaceborne computer with the measured value that simulation calculation obtains; And spaceborne computer directly sends to the actuator simulator with the steering order that calculates, and this communication between devices mode is identical with the real satellite control system, thereby has improved simulation Credibility; On the other hand; Sensor simulator is identical with the data layout of actual sensor actual output in the real satellite control system to the data layout of the true measurement of spaceborne computer output; And; Spaceborne computer is identical with the actual actuator data layout that actual reception arrives in the real satellite control system to the data layout of the steering order of actuator simulator output, thereby has further increased simulation Credibility.
Embodiment two
Present embodiment is with the different of embodiment one; In the satellite flight control closed-loop simulation system that present embodiment provides based on the parts simulator; Sensor simulator comprises: sensor emulation server and sensor data interface convertor; Connect sensor emulation server and spaceborne computer through the sensor data interface convertor, the sensor data interface convertor is used to change the data layout of communicating by letter between sensor emulation server and spaceborne computer; And the actuator simulator comprises: actuator emulation server and actuator data-interface converter; Connect actuator emulation server and spaceborne computer through actuator data-interface converter, actuator data-interface converter is used to change the data layout of communicating by letter between actuator emulation server and spaceborne computer.
Further; Because in the existing real satellite system; Carry out data communication through the CAN bus between on-board equipment, that is to say, sensor is the type of data format that meets the CAN agreement to the data layout of spaceborne computer output on the star; And the data layout of the actual output of spaceborne computer actuator on star is the type of data format that meets the CAN agreement; Therefore, in the satellite flight control closed-loop simulation system based on the parts simulator that present embodiment provides, the data layout of output of parts simulator or input is that example describes with the data layout that meets the CAN agreement.But need to prove; The present invention is not limited thereto; When between on-board equipment, adopt other data layouts, for example: when the category-A data layout carries out communication, in the analogue system provided by the invention; The data layout of output of parts simulator or input also can change accordingly, and every situation that meets this kind conception is all within protection domain of the present invention.
Concrete; The satellite flight control closed-loop simulation system that present embodiment provides based on the parts simulator; Be applied to comprise in the system of dynamics simulation server, sensor simulator, actuator simulator and spaceborne computer; Wherein, sensor simulator comprises: sensor emulation server and sensor data interface convertor; The actuator simulator comprises: actuator emulation server and actuator data-interface converter; Again owing in the existing real satellite system, carry out data communication through the CAN bus between on-board equipment, therefore; In the present embodiment; With the sensor data interface convertor is sensor Ethernet/CAN data-interface converter, and actuator data-interface converter is that actuator Ethernet/CAN data-interface converter is that example describes, and is as shown in Figure 3; The structural representation based on the satellite flight of parts simulator control closed-loop simulation system for the embodiment of the invention two provides specifically may further comprise the steps:
Step 201; Satellite dynamics mathematical model that dynamics simulation server basis prestores and initial control information and initial control moment information calculations obtain the orbit parameter information and the attitude quaternion information of current satellite, and this orbit parameter information and attitude quaternion information are sent to said sensor simulator.
Among the present invention; Sensor simulator comprises: sensor emulation server and sensor data interface convertor; So in this step, the dynamics simulation server is that orbit parameter information and attitude quaternion information are sent to the sensor emulation server in the sensor simulator.
Step 202; The sensor emulation server carries out simulation calculation according to said orbit parameter information that receives and attitude quaternion information with the mathematical model of the sensor corresponding with said sensor simulator that prestores; Obtain the analog measurement of said sensor, and this analog measurement is sent to sensor Ethernet/CAN data-interface converter.
Wherein, in the satellite simulation system, the data layout of analog measurement is the data layout that meets Ethernet protocol; And the data layout of true measurement is the data layout that meets the CAN agreement, and therefore, sensor Ethernet/CAN data-interface converter is used for the data layout that meets Ethernet protocol is converted into the data layout that meets the CAN agreement.
In addition; Because in the real satellite system; Sensor can be multiclass, for example: and one or more among star sensor, sun sensor, magnetometer, optical fibre gyro, the GPS, therefore; In this step; The sensor emulation server can calculate the analog measurement of different sensors based on the mathematical model of different sensors, for example: star sensor analog measurement, sun sensor analog measurement, magnetometer analog measurement, optical fibre gyro analog measurement, GPS analog measurement etc.; Then these inhomogeneous analog measurement can be sent to same sensor Ethernet/CAN data-interface converter, also can send to corresponding sensor Ethernet/CAN data-interface converter respectively.That is to say; Sensor Ethernet provided by the invention/CAN data-interface converter both can be converted into the data layout that meets the CAN agreement with the data layout that meets Ethernet protocol that belongs to same type of sensor, also can the data layout that meets Ethernet protocol that belong to the inhomogeneity sensor be converted into the data layout that meets the CAN agreement.Be convenient explanation, the data that will meet the data layout of Ethernet protocol below abbreviate Ethernet data as, and the data that will meet the data layout of CAN agreement simply are the CAN data.
For example: the sensor emulation server carries out simulation calculation based on the mathematical model of the sun sensor that prestores; Obtain the Ethernet data of sun sensor; Mathematical model based on the star sensor that prestores is carried out simulation calculation; Obtain the Ethernet data of star sensor; Then the Ethernet data of the Ethernet data of sun sensor and star sensor can send through following dual mode: (one) only is provided with a sensor Ethernet/CAN data-interface converter; Then the Ethernet data of the Ethernet data of sun sensor and star sensor all sends to this sensor Ethernet/CAN data-interface converter, and this sensor Ethernet/CAN data-interface converter both was converted into the CAN data with the Ethernet data of sun sensor, and the while also is converted into the CAN data with the Ethernet data of star sensor.(2) sun sensor Ethernet/CAN data-interface converter and star sensor Ethernet/CAN data-interface converter is set respectively; By sun sensor Ethernet/CAN data-interface converter the Ethernet data of sun sensor is converted into the CAN data; By star sensor Ethernet/CAN data-interface converter the Ethernet data of star sensor is converted into the CAN data; But need to prove; Sun sensor Ethernet/CAN data-interface converter is identical with the hardware of star sensor Ethernet/CAN data-interface converter, and difference only is to transmit the difference of content.
Step 203: the said analog measurement that the sensor Ethernet/CAN data-interface converter will receive is converted into true form analog measurement, and should true form analog measurement send to said spaceborne computer.
Concrete, sensor Ethernet/CAN data-interface converter is converted into the CAN data with the Ethernet data that receives, and then these CAN data is sent to spaceborne computer.
Therefore, the data that sensor Ethernet/CAN data-interface converter sends to spaceborne computer are the CAN data, and in the real satellite system, sensor is identical to the data layout of spaceborne computer output, thereby has improved simulation Credibility.
Step 204: spaceborne computer receives said true form analog measurement; And calculate according to the satellite targeted attitude information that prestores and satellite target track information and control algolithm; Controlled instruction, and this steering order sent to actuator Ethernet/CAN data-interface converter.
Wherein, spaceborne computer simulation calculation, the steering order that obtains are the steering order that meets the CAN agreement, hereinafter to be referred as the CAN steering order.That is to say; The steering order from spaceborne computer that actuator Ethernet/CAN data-interface converter receives is the CAN steering order; Identical with the type of the actual actuator data layout that actual reception arrives in the real satellite control system, thus simulation Credibility improved.
With sensor Ethernet/CAN data-interface converter can be for one or more identical, the actuator Ethernet that present embodiment provides/CAN data-interface converter also can be for one or more.
Concrete, because in the real satellite system, actuator can be multiclass; For example: momenttum wheel, magnetic torquer, thruster etc., therefore, in this step; Spaceborne computer is according to the difference of the classification of the actuator that will control; After obtaining steering order, can send to same actuator Ethernet/CAN data-interface converter, also can send to corresponding actuator Ethernet/CAN data-interface converter the inhomogeneity actuator.That is to say; Actuator Ethernet provided by the invention/CAN data-interface converter both can be converted into the Ethernet steering order with the CAN steering order that belongs to same type of actuator; Also can the CAN steering order that belong to the inhomogeneity actuator be converted into the Ethernet steering order; Wherein, the representative of Ethernet steering order meets the steering order of Ethernet protocol.
For example: spaceborne computer is according to the classification of the actuator that will control; Obtain to the CAN steering order of magnetic torquer with to the CAN steering order of thruster; Then can send through following dual mode to the CAN steering order of magnetic torquer with to the CAN steering order of thruster: (one) only is provided with an actuator Ethernet/CAN data-interface converter; Then all send to this actuator Ethernet/CAN data-interface converter to the CAN steering order of magnetic torquer with to the CAN steering order of thruster; Both will be converted into the Ethernet steering order by this actuator Ethernet/CAN data-interface converter, also will be converted into the Ethernet steering order simultaneously the CAN steering order of thruster to the CAN steering order of magnetic torquer.(2) magnetic torquer Ethernet/CAN data-interface converter and thruster Ethernet/CAN data-interface converter is set respectively; To be converted into the Ethernet steering order to the CAN steering order of magnetic torquer by magnetic torquer Ethernet/CAN data-interface converter; To be converted into the Ethernet steering order to the CAN steering order of thruster by thruster Ethernet/CAN data-interface converter; But need to prove; Magnetic torquer Ethernet/CAN data-interface converter is identical with the hardware of thruster Ethernet/CAN data-interface converter, and difference only is to transmit the difference of content.Further, actuator Ethernet/CAN data-interface converter that present embodiment provides and sensor Ethernet/CAN data-interface converter can be same hardware device, also can be different hardware devices.
Step 205: actuator Ethernet/CAN data-interface converter receives the CAN steering order from spaceborne computer; And the CAN steering order is converted into the Ethernet steering order; Carry out simulation calculation according to the said Ethernet steering order and the mathematical model of the said actuator that prestores then; Obtain new control information and new control moment information, and will this new control information and new control moment information send to said dynamics simulation server.
Step 206: said dynamics simulation server is with said new control information that receives and new said initial control information of control moment information updating and initial control moment information; Repeated execution of steps 201-205 then; Up to reaching preset simulation time, finish above-mentioned flow process.
Therefore; In the satellite flight control closed-loop simulation system that present embodiment provides based on the parts simulator; Sensor simulator comprises: sensor emulation server and sensor data interface convertor, and wherein, the sensor data interface convertor is sensor Ethernet/CAN data-interface converter; Be used for to be converted into the CAN data from the Ethernet data of sensor emulation server, and give spaceborne computer this CAN data upload; And the actuator simulator comprises: actuator emulation server and actuator data-interface converter; Wherein, Actuator data-interface converter is actuator Ethernet/CAN data-interface converter; Be used for and be converted into the Ethernet steering order from the CAN steering order of spaceborne computer, and this Ethernet steering order is uploaded to the actuator emulation server.Therefore; Present embodiment has realized that sensor simulator is identical with the data layout of sensor output in the real satellite system to the data layout of spaceborne computer output; And the data layout from spaceborne computer that the actuator simulator receives is identical with the data layout of actuator input in the real satellite system, thereby has improved simulation Credibility.
Claims (10)
1. the satellite flight control closed-loop simulation system based on the parts simulator is characterized in that, is applied to comprise in the system of dynamics simulation server, sensor simulator, actuator simulator and spaceborne computer, may further comprise the steps:
(1) said dynamics simulation server obtains the orbit parameter information and the attitude quaternion information of current satellite according to the satellite dynamics mathematical model that prestores and initial control information and initial control moment information calculations, and this orbit parameter information and attitude quaternion information are sent to said sensor simulator;
(2) said sensor simulator receives said orbit parameter information and attitude quaternion information; And the combination sensor mathematical model corresponding with said sensor simulator carried out simulation calculation; Obtain the analog measurement of said sensor; And the data layout of this analog measurement is converted into the data layout of true measurement, obtain true form analog measurement, and should true form analog measurement send to said spaceborne computer; Wherein, the data layout of said true form analog measurement is the data layout of actual sensor actual output in the real satellite control system;
(3) said spaceborne computer receives said true form analog measurement; And calculate according to the satellite targeted attitude information that prestores and/or satellite target track information and control algolithm; Controlled instruction, and this steering order sent to said actuator simulator; Wherein, the data layout of said steering order is the actual actuator data layout that actual reception arrives in the real satellite control system;
(4) said actuator simulator receives said steering order; And the data layout of this steering order is converted into the data layout of simulation steering order; Obtain said simulation steering order; Carry out simulation calculation according to the mathematical model of said simulation steering order and the actuator corresponding that prestore then, obtain new control information and new control moment information with said actuator simulator, and will this new control information and new control moment information send to said dynamics simulation server;
(5) said dynamics simulation server is with said new control information that receives and new said initial control information of control moment information updating and initial control moment information; Repeated execution of steps (1)-(5) then; Up to reaching preset simulation time, finish above-mentioned flow process.
2. system according to claim 1 is characterized in that, the satellite dynamics mathematical model comprises attitude of satellite kinetic model and satellite orbit kinetic model described in the step (1).
3. system according to claim 1 is characterized in that, the data layout of analog measurement is the data layout that meets Ethernet protocol described in the step (2); The data layout of said true form analog measurement is the data layout that meets the CAN agreement; The data layout of steering order is the data layout that meets the CAN agreement described in the step (3), and the data layout of the steering order of simulation described in the step (4) is the data layout that meets Ethernet protocol.
4. system according to claim 1 is characterized in that, said sensor simulator comprises: one or more in star sensor simulator, sun sensor simulator, magnetometer simulator, optical fibre gyro simulator, the GPS simulator;
Said actuator simulator comprises: one or more in flywheel simulator, magnetic torquer simulator, the thruster simulator.
5. system according to claim 1 is characterized in that, said sensor simulator comprises: sensor emulation server and sensor data interface convertor;
Said sensor emulation server is used for: the mathematical model of the sensor corresponding with said sensor simulator that the said orbit parameter information and the combination of attitude quaternion information from said dynamics simulation server that will receive prestores is carried out simulation calculation; Obtain the analog measurement of said sensor, and this analog measurement is sent to said sensor data interface convertor;
Said sensor data interface convertor is used for the said analog measurement that receives is converted into true form analog measurement, and should true form analog measurement send to said spaceborne computer.
6. system according to claim 5 is characterized in that, said sensor data interface convertor is single or a plurality of; Each sensor data interface convertor is used for the data layout of the analog measurement that belongs to same type of sensor is converted into the data layout of true form analog measurement and/or the data layout that each sensor data interface convertor is used for the data layout of the analog measurement that belongs to the inhomogeneity sensor is converted into true form analog measurement.
7. system according to claim 1 is characterized in that, said actuator simulator comprises: actuator emulation server and actuator data-interface converter;
Said actuator data-interface converter is used to receive the steering order from said spaceborne computer; And the data layout of this steering order is converted into the data layout of simulation steering order; Obtain said simulation steering order, should simulate steering order then and send to said actuator emulation server;
Said actuator emulation server is used to receive the simulation steering order from said actuator data-interface converter; Carry out simulation calculation according to the said simulation steering order and the mathematical model of the said actuator that prestores then; Obtain new control information and new control moment information, and will this new control information and new control moment information send to said dynamics simulation server.
8. system according to claim 7 is characterized in that, said actuator data-interface converter is single or a plurality of; Each actuator data-interface converter is used for the data layout of the steering order that belongs to same type of actuator is converted into the data layout of simulation steering order and/or the data layout that each actuator data-interface converter is used for the data layout of the steering order that belongs to the inhomogeneity actuator is converted into the simulation steering order.
9. according to each described system of claim 1-8; It is characterized in that; Also comprise: data storage server; Said data storage server links to each other with said spaceborne computer, and said true form analog measurement that said spaceborne computer will receive and the said steering order that calculates send to said data storage server, are stored by said data-carrier store.
10. according to each described system of claim 1-8; It is characterized in that; Also comprise: land station's simulator; Said land station simulator receives the orbit parameter information and the attitude quaternion information of the current satellite that this satellite flight control closed-loop simulation system sends, and then, draws and the kinematic parameter that shows received said current satellite curve over time; And/or said land station simulator receives the orbit parameter information and the attitude quaternion information of the current satellite that this satellite flight control closed-loop simulation system sends, and then, stores and shows that said actuator simulator exports to the information of said emulation server; And/or said land station simulator receives the orbit parameter information and the attitude quaternion information of the current satellite that this satellite flight control closed-loop simulation system sends, and then, stores and shows that said sensor simulator exports to the information of said spaceborne computer.
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