CN103092212B - The simulation and verification platform of micro-gastric carcinoma system and implementation method - Google Patents
The simulation and verification platform of micro-gastric carcinoma system and implementation method Download PDFInfo
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- 208000010749 gastric carcinoma Diseases 0.000 title claims abstract description 22
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Abstract
A kind of simulation and verification platform of micro-gastric carcinoma system and implementation method, platform have emulation and verify main control platform, emulate primary, multiple emulation from star and with multiple emulation from multiple satellite controllers corresponding to astrology, emulation primary is communicated with checking main control platform with emulation by Ethernet from star with emulation, emulation primary is communicated by wireless Wifi with satellite controller, emulates and is connected by RS232 interface with satellite controller from star.Method is that emulation starts simulation process with checking main control platform, builds hypotactic real-time simulation environment; Emulation primary runs formation control, and sending controling instruction is to controller, controller is transmitted control signal to emulation from star by serial ports through simulation calculation, emulation is from star analog satellite kinetic model and environmental model, the status information of satellite is provided, emulated data passes to emulation and checking main control platform, carries out unified management and analysis.The present invention provides comprehensive, complicated simulating, verifying function for satellite formation flying.
Description
Technical field
The present invention relates to a kind of control method emulation and checking of aerospace field.Particularly relate to a kind of simulation and verification platform and implementation method of micro-gastric carcinoma system.
Background technology
Space environment has become closely bound up the 4th environment except land, sea and air with human development, compared to single traditional satellite, the concern of the features such as redundancy in-orbit, robustness, reliability and survivability that many satellites have with it extremely people, contribute to the detectivity improving space, ensure that China effectively utilizes space peacefully, become the preferred option of many space missions.Satellite formation flying can simplify space exploration task, expands observation territory, is removed in time simultaneously damage individuality by system reconfiguration, according to the satellite load in the change replacement system of task, can also improve satellite system to the adaptability of task.Thus, a formation flight system be made up of microsatellite just can complete the task replacing of space-based, thus can complete the replacement of new and old task with extremely short cycle, extremely low cost and high reliability.The systematic research of current domsat formation control is still in the starting stage.And relevant control program and algorithm lack actual analysis environments, and life situations needs to drop into a large amount of risk cost at the scientific research initial stage, therefore building a satellites formation simulating, verifying environment is very important to the theoretical research of satellites formation system and method validation.
Satellites formation control system is different from common aerospacecraft, and the function of its system has been worked in coordination with mutually by multiple spacecraft, therefore there is complicated information interaction.This manages satellite position gesture stability and satellite task, scheduling controlling proposes new requirement.Be unfavorable for the expansion of system based on the method that particular area realistic model is integrated, integrated rear system emulation result degree of confidence is low; Need again to describe with math equation existing model based on unified modeling language method, existing achievement in research cannot be made full use of, and some model cannot describe with equation; Analogue system can be realized based on Heterogeneous simulation environment to build flexibly, effectively improve simulation efficiency, integrated existing achievement in research; Based on distributed modeling and simulating scheme, there is certain dirigibility, extensibility, reduce network data redundancy, ensure data consistency to greatest extent, and real simulation, virtual emulation etc. can be integrated in unified simulated environment.
Microsatellite emulation platform adopts Computer real time simulation and embedded software hardware technology to realize control method emulation and the checking of satellites formation, its maximum characteristic is that realistic model can be rapidly and efficiently transplanted on platform, meets application demand and the development trend of microsatellite emulation.
Summary of the invention
Technical matters to be solved by this invention is, provides a kind of simulation and verification platform and implementation method of the micro-gastric carcinoma system that many microsatellites system can be supported to test from formation control system to real-time simulation.
The technical solution adopted in the present invention is: a kind of simulation and verification platform of micro-gastric carcinoma system and implementation method, the simulation and verification platform of micro-gastric carcinoma system, comprise: for downloading realistic model and carrying out the emulation of emulated data monitoring and checking main control platform, emulation primary, multiple emulation from star and with multiple emulation from multiple satellite controllers corresponding to astrology, wherein, described emulation primary is communicated with checking main control platform with emulation by Ethernet from star with multiple emulation, described emulation primary is communicated by wireless Wifi with multiple satellite controller, described multiple emulation are connected by RS232 interface from star one to one with multiple satellite controller.
Described satellite controller includes master controller, the Wifi wireless communication module be connected by RS232 serial ports with master controller, the assistant controller be connected with master controller and the power module of power supply is provided respectively to master controller and assistant controller, wherein master controller is communicated with described emulation primary by Wifi wireless communication module, and the output of described assistant controller is by the satellite controller corresponding to the connection of RS232 serial ports.
Described assistant controller includes FPGA assistant controller, the voltage isolation circuit being formed voltage matches circuit by 3 SN74ALVC164245 chips and be made up of ADUM1400 chip be connected with FPGA assistant controller respectively, wherein, what 3 described SN74ALVC164245 chips difference were corresponding is connected master controller by control line, data line with address wire, the satellite controller corresponding to described ADUM1400 chip is connected by RS232 serial ports.
For an operation method for the simulation and verification platform of micro-gastric carcinoma system, start simulation process by emulation and checking main control platform, the initialization condition of formation task is provided, builds hypotactic real-time simulation environment; Emulation primary runs formation control software, by wireless communication mode sending controling instruction to controller, controller is transmitted control signal to emulation from star by serial ports through simulation calculation, emulation is from star analog satellite kinetic model and environmental model, there is provided the status information of satellite, with satellite controller formation control closed loop, emulated data passes back to emulation with in checking main control platform, by database, carry out unified management and analysis;
Wherein, described emulation comprises the steps: with the operation method of checking main control platform
1) foundation emulation and checking main control platform and the connection emulating primary and emulate from star, and download real-time simulation program;
2) Initialize installation;
3) real-time simulation is started;
4) judge whether to issue new task, be enter next step, otherwise enter step 6);
5) formation task is issued to emulating primary;
6) carry out simulative surveillance, and judge whether emulation terminates, and is enter next step, otherwise returns step 4);
7) disconnection emulation and checking main control platform and the connection emulating primary and emulate from star;
8) emulated data management is carried out;
The operation method of described satellite controller comprises the steps:
1) reference instruction receiving emulation primary and the quantity of state emulated from star;
2) sliding-mode control is adopted to carry out the computing of satellite Controlling model according to received reference instruction and quantity of state;
3) satellite steering order is sent to emulation from star according to operation result;
4) judge whether emulation terminates, and is exit, otherwise the step 1) returning this satellite controller operation method continues to run.
When emulating with when verifying that main control platform starts real-time simulation, emulation primary runs following steps:
1) judging whether to receive new task of forming into columns from receiving serial ports, having and then receiving formation task, otherwise entering next step;
2) the pseudo-spectrometry of Legendre is adopted to carry out trajectory planning computing according to formation task;
3) send respectively to emulation and checking main control platform and satellite controller the reference instruction emulating primary by sending serial ports;
4) judge whether emulation terminates, and is exit, otherwise return step 1) continuation operation.
When emulating with when verifying that main control platform starts real-time simulation, emulate from luck row following steps:
1) steering order of satellite controller is received by receiving serial ports;
2) calculate the motion state of satellite according to the kinematics and dynamics modeling of satellite according to steering order;
3) satellite state information is sent by sending serial ports respectively to emulation and checking main control platform and satellite controller;
4) judge whether emulation terminates, and is exit, otherwise returns step 1).
The operating procedure of described reception serial ports is:
1) serial communication parameter is set;
2) judge whether serial communication interrupts, and is, enters next step, otherwise continue to judge;
3) judged whether new data, be, entered next step, otherwise returned step 2);
4) buffer zone is write;
5) data prefix is searched;
6) judge whether the data finding needs, be, export data backed off after random, otherwise return step 5).
The operating procedure of described transmission serial ports is:
1) serial communication parameter is set;
2) data packing;
3) data send backed off after random.
The simulation and verification platform of micro-gastric carcinoma system of the present invention and implementation method, have following features:
(1) analogue system possesses track and the Attitude Simulation function of single satellite, namely when moment epoch of a given satellite, preliminary orbit, attitude parameter and perturbative force configuration parameter, satellite orbit and the attitude data in emulation moment arbitrarily can be calculated.
(2) analogue system possesses initialization and the optimal design function of multi-satellite high stable formation, exploitation formation flight Configuration Design software.Analogue system will can receive the partially-initialized parameter of formation flight parameter as analogue system of Configuration Design Software for Design, and according to flight pattern demand, adopts the pseudo-spectrometry of Legendre to solve optimal trajectory path.
(3) analogue system can realize attitude in Small Satellite Formation Flying process and point to the emulation of consistent controlling functions.In analogue system, embedding Attitude Calculation module point to consistent control module with attitude, and these modules above-mentioned organically combined, is the destination service of analogue system.
(4) analogue system has data output and analysis ability, the Configuration Design of Small Satellite Formation Flying and Simulation Calculation are tested, the form of the data acquisition chart relevant with artificial tasks precision analysis and text is exported, carries out analytic statistics simultaneously, and Output rusults.
The simulation and verification platform of micro-gastric carcinoma system of the present invention and implementation method, not only can improve the simulation Credibility at micro-gastric carcinoma control system's development initial stage, greatly shorten research cycle; There is provided valuable emulated data for further studying simultaneously, and the simulating, verifying realized different formation control method, effectively improve theory research quality and the l-G simulation test level of satellites formation control, good test platform basis is laid in the research and development for many satellites cooperative control system.
The present invention is by the software and hardware combining of real-time simulation and controller, enhance real-time and the portability of system control strategy, space exploration task can be simplified, expand observation territory, improve system robustness, according to the satellite load in the change replacement system of task, satellite system can also be improved to the adaptability of task, there is higher economic worth, all there is very large potential application in military and civilian.This emulation and verification platform design for micro-gastric carcinoma control system, not only can provide more comprehensive, complicated simulating, verifying function for the exploitation of Future Satellite formation flight control system; Simultaneously as the Rapid Prototyping Platform of research satellite formation flight control system, simulation optimization design and control strategy validation problem can be solved, not only rapidly and efficiently but also reduce expenses.
Accompanying drawing explanation
Fig. 1 is the one-piece construction block diagram of emulation of the present invention and verification platform;
Fig. 2 is emulation of the present invention and verification platform functional realiey process flow diagram;
Fig. 3 is the formation block diagram of satellite controller of the present invention;
Fig. 4 is that emulation of the present invention and verification platform run schematic diagram;
Fig. 5 is that the present invention emulates and verifies main control platform operational flow diagram;
Fig. 6 is satellite formation flying track optimizing of the present invention and tracing control process schematic;
Fig. 7 is that the present invention emulates primary operational flow diagram;
Fig. 8 is satellite controller operational flow diagram of the present invention;
Fig. 9 is that the present invention emulates from star operational flow diagram
Figure 10 is that the present invention emulates primary and emulates from star serial ports received communication process flow diagram;
Figure 11 is that the present invention emulates primary and emulation sends communication flow diagram from star serial ports.
In figure
1: emulation and checking main control platform 2: emulate primary
3: emulate from star 4: satellite controller
5: master controller 6:Wifi wireless communication module
7: assistant controller 8: power module
Embodiment
Below in conjunction with embodiment and accompanying drawing, the simulation and verification platform of micro-gastric carcinoma system of the present invention and implementation method are described in detail.
The simulation and verification platform of micro-gastric carcinoma system of the present invention and implementation method, develop based on xPC Real-time Simulation Technology, the real-time simulation function of xPC real-time simulation computer primary responsibility Matlab simulated program, it is connected with checking main control platform with emulation by Ethernet, realize automatic compiling and the download of simulated program, simultaneously simulation result carries out display and data are preserved in real time in emulation with checking main control platform, is convenient to post analysis process.XPC target machine is analog simulation primary and the kinematics model and the kinetic model that emulate component respectively, emulation primary runs the flight configuration software based on Matlab/Simulink exploitation, be connected by the controller of wireless Wifi communication module with each emulation component, realize the formation control to component.
Emulation and the design of verification platform main control software adopt MFC programming technique, Matlab engine technique, database technology to develop, main control software interface adopts MFC design, integrated Matlab/Simulink copying, and xPC real-time simulation function, emulated data is managed by database.Wherein the xPC real-time simulation function of main control software is based on Matlab RTI driver and the exploitation of xPC target programming function library.Matlab RTI Drivers Library realizes Simulink simulated program to the automatic compiling of C program in machine code and download, and real-time simulation data, to the reading of xPC real-time simulation internal memory, are carried out plot and display by main control software by xPC target programming realization.Data management function is developed based on MySQL database, preserves the result data of Matlab off-line simulation and xPC real-time simulation, is convenient to simulation analysis.
The satellite controller of Based PC/104 industrial computer design, run satellite position and gesture stability module, received the formation control instruction of emulation primary by wireless Wifi communication module, calculate control signal, and pass to corresponding emulation component by serial ports, realize satellites formation control loop.Run LINUX embedded OS, support multithreading task and Develop Application System, extensibility is strong, supports the various control strategy software application of later development.
The simulation and verification platform hardware of micro-gastric carcinoma system of the present invention comprises: emulation with checking main control platform, xPC real-time simulation primary and xPC real-time simulation from star, the satellite controller be made up of PC104 industrial computer, and wireless Wifi communication module.
As Fig. 1, shown in Fig. 2, the simulation and verification platform of micro-gastric carcinoma system of the present invention, comprise: for downloading realistic model and carrying out the emulation of emulated data monitoring and checking main control platform 1, emulation primary 2, multiple emulation from star 3 and with multiple emulation from the corresponding multiple satellite controllers 4 of star 3, wherein, described emulation primary 2 is communicated with checking main control platform 1 with emulation by Ethernet from star 3 with multiple emulation, described emulation primary 2 is communicated by wireless Wifi with multiple satellite controller 4, described multiple emulation are connected by RS232 interface from star 3 one to one with multiple satellite controller 4.Described emulation with checking main control platform 1, emulate primary 2 and multiple emulation is all adopt computing machine from star 3, described satellite controller employing PC/104 industrial computer.
As shown in Figure 3, described satellite controller includes master controller 5, the Wifi wireless communication module 6 be connected by RS232 serial ports with master controller 5, the assistant controller 7 be connected with the master controller 5 and power module 8 of power supply is provided respectively to master controller 5 and assistant controller 7, wherein master controller 5 is communicated with described emulation primary 2 by Wifi wireless communication module 6, and the output of described assistant controller 7 is by the satellite controller 4 corresponding to the connection of RS232 serial ports.
Described assistant controller 7 includes FPGA assistant controller 7a, the voltage isolation circuit 7c being formed voltage matches circuit 7b by 3 SN74ALVC164245 chips and be made up of ADUM1400 chip be connected with FPGA assistant controller 7a respectively, wherein, what 3 described SN74ALVC164245 chips difference were corresponding is connected master controller 5 by control line, data line with address wire, the satellite controller 4 corresponding to described ADUM1400 chip is connected by RS232 serial ports.
With PC104 industrial computer for master controller, FPGA is assistant controller, Based PC 104 designs satellites formation emulation controller, linux system is adopted to realize task management and Resourse Distribute, control strategy is written as C code to run in the controller, realize the control imitation to satellite formation flying, simulation result passes to FPGA by PC104 bus, in order to realize mating of FPGA3.3V voltage and PC104 interface 5V voltage, form voltage matches circuit by 3 SN74ALVC164245, produce actual satellite control signals by FPGA.Convert serial ports level to through ADUM1400, exploitation Wifi module is used for the wireless data communication between each controller, utilizes serial ports to carry out communication with emulation satellite.
Emulation and checking main control platform 1, Dynamic simulation main control software, be responsible for formation configuration control software design, Matlab/Simulink satellite simulation model, data communication model etc. downloads in xPC real-time simulation computer, form hypotactic satellites formation and control real-time simulation environment, realize simulation process monitoring and the function such as data base administration of formation flight control system simultaneously.
XPC real-time simulation computer: based on DOS environment, builds real-time simulation environment, forms into columns emulation primary with emulation from star in order to simulation.Emulation primary runs configuration control software design, trace information is sent to each component controller, composition master & slave control simulation architecture; Emulation is from star analog satellite dynamics of orbits environment and attitude dynamics environment, receive the steering order that satellite controller produces, carry out track and Attitude Calculation, and provide track, attitude, the formation status information of satellite self to satellite controller, and satellite controller forms satellite Control loop.
Satellite controller: based on Linux embedded OS, run satellite position and gesture stability module, realize satellites formation to control, the formation control instruction of emulation primary is received by wireless Wifi communication module, calculate control signal, and pass to corresponding emulation from star by serial ports, realize satellites formation control loop.
Figure 4 shows that emulation and verification platform software configuration schematic diagram, emulation and the function of verification platform be realize micro-gastric carcinoma control system from controller conceptual design to off-line simulation, real-time simulation, finally carry out the overall process of simulation analysis.Emulation platform technological layer adopts multiple technologies to support the realization of copying, utilizes the support that multithreading Matlab engine technique realizes the realistic model developed based on Matlab/Simulink and formation control software, allows to carry out off-line simulation in advance simultaneously.Utilize Matlab to complete the automatic conversion of simulated program to C language code for the RTI driver that xPC target provides, realize the download of real-time code.The corresponding relation of simulation parameter of simulation parameter analytic technique for obtaining C program in machine code simulation parameter variable and Matlab and writing, thus can supervisory control simulation data message in real time.Database technology is utilized off-line simulation data and real-time simulation data to be all saved in data form corresponding to database.
The operation method of the simulation and verification platform for micro-gastric carcinoma system of the present invention, is start simulation process by emulation and checking main control platform, provides the initialization condition of formation task, build hypotactic real-time simulation environment; Emulation primary runs formation control software, by wireless communication mode sending controling instruction to controller, controller is transmitted control signal to emulation from star by serial ports through simulation calculation, emulation is from star analog satellite kinetic model and environmental model, there is provided the status information of satellite, with satellite controller formation control closed loop, emulated data passes back to emulation with in checking main control platform, by database, carry out unified management and analysis;
Wherein, as shown in Figure 5, described emulation with checking main control platform 1 operation method, be utilize Matlab to provide xPC api function storehouse programming realization to the controlling functions of xPC target machine.First, need to register xPC application program by application program registration function, set up emulation and be connected with the communication of xPC replicating machine with checking main control platform; Then, the formation control software developed based on Matlab and satellite simulation model are loaded in corresponding xPC replicating machine; Initialize installation is carried out to analogue system, starts real-time simulation, the issue of formation task can be completed in simulation process, carry out simulative surveillance simultaneously; Judge whether emulation terminates, if not, enter simulative surveillance circulation, terminate if emulated, disconnect emulation and the connection verifying main control platform and xPC replicating machine, complete this simulation process.After having emulated, the real-time simulation data of acquisition are saved in database, for post analysis process.Specifically comprise the steps:
1) foundation emulation and checking main control platform and the connection emulating primary and emulate from star, and download real-time simulation program;
2) Initialize installation;
3) real-time simulation is started;
4) judge whether to issue new task, be enter next step, otherwise enter step 6);
5) formation task is issued to emulating primary;
6) carry out simulative surveillance, and judge whether emulation terminates, and is enter next step, otherwise returns step 4);
7) disconnection emulation and checking main control platform and the connection emulating primary and emulate from star;
8) emulated data management is carried out;
Satellite formation flying track optimizing and tracing control structural drawing shown in Fig. 6, for the track optimizing in configuration initialization and Formation keeping and control problem, core concept optimal control problem is converted into a nonlinear programming problem, solve optimal trajectory, then take corresponding Trajectory Tracking Control strategy, generate desired configuration and carry out Formation keeping.Specifically: first set up corresponding track optimizing model, then the pseudo-spectrometry of Legendre is utilized to carry out sliding-model control to this problem, be converted into nonlinear programming problem (NLP), and based on seqential quadratic programming (SQP), the NLP built solved, obtain Optimal Flight Route.Finally adopt sliding-mode control carry out Trajectory Tracking Control to from satellite, is formed and keep expectation formation configuration.
As shown in Figure 8, the operation method of satellite controller 4 of the present invention has the advantages such as quick response, precision is high, physics realization is simple, and Controller gain variations can design according to the demand of specific tasks.First receive reference instruction and satellitosis amount, calculate according to controller model, the steering order obtained is sent to corresponding satellite simulation computing machine by serial ports program; Judge whether emulation terminates, if do not had, enters circulation, otherwise quits a program.Specifically comprise the steps:
1) reference instruction receiving emulation primary and the quantity of state emulated from star;
2) sliding-mode control is adopted to carry out the computing of satellite Controlling model according to received reference instruction and quantity of state; (concrete operation carries out different computings according to the demand for control of different satellite, please refer to Gao Youtao.A new sliding modecontrol for satellite formation [C] .Proceedingsof the 6
thwSEAS InternationalConference on Circuits, Systems, Electronics, Control & Signal Processing (CSECS07), 2007:258-263. (UT ISI:000253218500042)).
3) satellite steering order is sent to emulation from star according to operation result;
4) judge whether emulation terminates, and is exit, otherwise the step 1) returning this satellite controller 4 operation method continues to run.
The formation control strategy that the present invention relates to adopts the mode of operation of principal and subordinate's star, and primary completes trajectory planning for formation task.First new formation task is judged whether, if there is reception new task; Carry out track optimizing according to formation task, processing procedure is see Fig. 5; The reference instruction calculated sends according to serial mode, sends satellite controller to by Wifi wireless module; Judge whether emulation terminates, if do not had, enters circulation, otherwise quits a program.
Specifically as shown in Figure 7, when emulating with when verifying that main control platform starts real-time simulation, emulation primary operation following steps:
1) judging whether to receive new task of forming into columns from receiving serial ports, having and then receiving formation task, otherwise entering next step;
2) the pseudo-spectrometry of Legendre is adopted to carry out trajectory planning computing according to formation task; (concrete operation carries out different computings according to different satellite task demands, please refer to Baolin Wu, Danwei Wang, Guangyan Xu, NonlinearOptimization of Low-Thrust Trajectory for Satellite Formation:LegendrePseudospectral Approach, JOURNAL OF GUIDANCE, CONTROL, AND DYNAMICS Vol.32, No.4, July – August2009)
3) send respectively to emulation and checking main control platform and satellite controller the reference instruction emulating primary by sending serial ports;
4) judge whether emulation terminates, and is exit, otherwise return step 1) continuation operation.
The microsatellite model that the present invention relates to is general dummy satellite, does not possess singularity, can modify according to actual emulation object and replace.First received the steering order of satellite controller transmission by serial ports, carry out simulation calculation according to dummy satellite, and the satellitosis amount obtained is exported to system circuit, finally judge whether emulation terminates, if do not had, enters circulation, otherwise quits a program.
Specifically as shown in Figure 9, when emulating with when verifying that main control platform starts real-time simulation, emulate from luck row following steps:
1) steering order of satellite controller is received by receiving serial ports;
2) calculate the motion state of satellite according to the kinematics and dynamics modeling of satellite according to steering order; (concrete calculating carries out different calculating according to different satellites, please refer to Gao Youtao.A new sliding mode control forsatellite formation [C] .Proceedings of the 6
thwSEAS International Conference onCircuits, Systems, Electronics, Control & Signal Processing (CSECS07), 2007:258-263. (UT ISI:000253218500042))
3) satellite state information is sent by sending serial ports respectively to emulation and checking main control platform and satellite controller;
4) judge whether emulation terminates, and is exit, otherwise returns step 1).
The serial communication model of the present invention's design is under Matlab/Simulink environment, utilizes the RS232 word bank in xPC Target storehouse to drive.The main modular wherein used has Baseboard Serial F, FIFO bin Read, Pack, Unpack, and serial ports receiver module interrupts triggering by serial ports.Serial ports reception program, first communications parameter is set, serial ports read module first judges whether the interruption received is the COM port interrupt request mark of specifying, if it is indicate that new data receives, data are write buffer zone, then carry out data prefix to search, wait to find the data prefix of specifying data to be exported.Serial ports transmission program, first arranges communications parameter, packs according to communication need, then can complete data and send.Specific as follows:
As shown in Figure 10, the operating procedure of described reception serial ports is:
1) serial communication parameter is set;
2) judge whether serial communication interrupts, and is, enters next step, otherwise continue to judge;
3) judged whether new data, be, entered next step, otherwise returned step 2);
4) buffer zone is write;
5) data prefix is searched;
6) judge whether the data finding needs, be, export data backed off after random, otherwise return step 5).
As shown in figure 11, the operating procedure of described transmission serial ports is:
1) serial communication parameter is set;
2) data packing;
3) data send backed off after random.
Claims (4)
1. the simulation and verification platform of a micro-gastric carcinoma system, it is characterized in that, comprise: for downloading realistic model and carrying out the emulation of emulated data monitoring and checking main control platform (1), emulation primary (2), multiple emulation from star (3) and with multiple emulation from the corresponding multiple satellite controllers (4) of star (3), wherein, described emulation primary (2) is communicated with checking main control platform (1) with emulation by Ethernet from star (3) with multiple emulation, described emulation primary (2) is communicated by wireless Wifi with multiple satellite controller (4), described multiple emulation are connected by RS232 interface from star (3) one to one with multiple satellite controller (4), described satellite controller (4) includes master controller (5), the Wifi wireless communication module (6) be connected by RS232 serial ports with master controller (5), the assistant controller (7) be connected with master controller (5) and the power module (8) of power supply is provided respectively to master controller (5) and assistant controller (7), wherein master controller (5) is communicated with described emulation primary (2) by Wifi wireless communication module (6), the output of described assistant controller (7) is by the satellite controller (4) corresponding to the connection of RS232 serial ports, described assistant controller (7) includes FPGA assistant controller (7a), the voltage isolation circuit (7c) being formed voltage matches circuit (7b) by 3 SN74ALVC164245 chips and be made up of ADUM1400 chip be connected with FPGA assistant controller (7a) respectively, wherein, 3 described SN74ALVC164245 chips are corresponding respectively passes through control line, data line is connected master controller (5) with address wire, satellite controller (4) corresponding to described ADUM1400 chip is connected by RS232 serial ports.
2. the operation method for the simulation and verification platform of micro-gastric carcinoma system according to claim 1, it is characterized in that, start simulation process by emulation and checking main control platform, the initialization condition of formation task is provided, builds hypotactic real-time simulation environment; Emulation primary runs formation control software, by wireless communication mode sending controling instruction to controller, controller is transmitted control signal to emulation from star by serial ports through simulation calculation, emulation is from star analog satellite kinetic model and environmental model, there is provided the status information of satellite, with satellite controller formation control closed loop, emulated data passes back to emulation with in checking main control platform, by database, carry out unified management and analysis;
Wherein, described emulation comprises the steps: with the operation method of checking main control platform (1)
1) foundation emulation and checking main control platform and the connection emulating primary and emulate from star, and download real-time simulation program;
2) Initialize installation;
3) real-time simulation is started,
When emulating with when verifying that main control platform starts real-time simulation, emulation primary runs following steps:
(1) judging whether to receive new task of forming into columns from receiving serial ports, having and then receiving formation task, otherwise entering next step;
(2) the pseudo-spectrometry of Legendre is adopted to carry out trajectory planning computing according to formation task;
(3) send respectively to emulation and checking main control platform and satellite controller the reference instruction emulating primary by sending serial ports;
(4) judge whether emulation terminates, and is exit, otherwise return step (1) continuation operation;
4) judge whether to issue new task, be enter next step, otherwise enter step 6);
5) formation task is issued to emulating primary;
6) carry out simulative surveillance, and judge whether emulation terminates, and is enter next step, otherwise returns step 4);
7) disconnection emulation and checking main control platform and the connection emulating primary and emulate from star;
8) emulated data management is carried out;
The operation method of described satellite controller (4) comprises the steps:
1) reference instruction receiving emulation primary and the quantity of state emulated from star;
2) sliding-mode control is adopted to carry out the computing of satellite Controlling model according to received reference instruction and quantity of state;
3) satellite steering order is sent to emulation from star according to operation result;
4) judge whether emulation terminates, and is exit, otherwise returns the step 1 of this satellite controller (4) operation method) continue to run.
3. the operation method of the simulation and verification platform for micro-gastric carcinoma system according to claim 2, is characterized in that, when emulating with when verifying that main control platform starts real-time simulation, emulates from luck row following steps:
1) steering order of satellite controller is received by receiving serial ports;
2) calculate the motion state of satellite according to the kinematics and dynamics modeling of satellite according to steering order;
3) satellite state information is sent by sending serial ports respectively to emulation and checking main control platform and satellite controller;
4) judge whether emulation terminates, and is exit, otherwise returns step 1).
4. the operation method of the simulation and verification platform for micro-gastric carcinoma system according to Claims 2 or 3, is characterized in that, the operating procedure of described reception serial ports is:
1) serial communication parameter is set;
2) judge whether serial communication interrupts, and is, enters next step, otherwise continue to judge;
3) judged whether new data, be, entered next step, otherwise returned step 2);
4) buffer zone is write;
5) data prefix is searched;
6) judge whether the data finding needs, be, export data backed off after random, otherwise return step 5);
The operating procedure of described transmission serial ports is:
1) serial communication parameter is set;
2) data packing;
3) data send backed off after random.
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