CN104122888B - Quick posture control nonlinear circuit test method - Google Patents
Quick posture control nonlinear circuit test method Download PDFInfo
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- CN104122888B CN104122888B CN201410394971.9A CN201410394971A CN104122888B CN 104122888 B CN104122888 B CN 104122888B CN 201410394971 A CN201410394971 A CN 201410394971A CN 104122888 B CN104122888 B CN 104122888B
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Abstract
The invention discloses a quick posture control nonlinear circuit test method. The quick posture control nonlinear circuit test method includes that designing the test method; simulating rocket movement; designing step lengths with gradually changed analog quantity; sampling action states of a posture control switch and calculating; enabling an inertial measurement unit to actually sense the simulated rocket movement state and transmitting the measurement information to a rocket-mounted computer, enabling the rocket-mounted computer to control the open and close of a posture control spray pipe through nonlinear control network computing, and meanwhile, enabling a master control microcomputer to gather the posture information of an electromagnetic valve of the posture control spray pipe under an action state, and calculating a loop-back coefficient to examine the design of a nonlinear posture control segment of a software of the rocket-mounted computer. The quick posture control nonlinear circuit test method realizes to comprehensively examine and verify the design of a nonlinear switch system in a posture control system of a new generation of carrier rocket and has good engineering application effect.
Description
Technical field
The present invention relates to carrier space vehicle control system, particularly to a kind of quick attitude control nonlinear circuit method of testing.
Background technology
Carrier rocket rolls control passage and final stage section often uses nonlinear control system, and actuator is relay system
Attitude control jet pipe.In ground experiment, engine electromagnetic valve load does not all fill arrow and participates in test.Therefore, it is necessary to find a kind of letter
List, fast and effectively method load to attitude control nonlinear circuit in each stage equivalent engine electromagnetic valve of Rocket test
Design is tested and is examined.
Existing carrier rocket when Switch operated by change of position circuit is tested in attitude control system, mainly passes through analog platform
Output applies signal from detection entrance, controls attitude electromagnetism valve events by nonlinear Control network, records each passage electromagnetic valve
Detection output voltage during switch, calculating is closed, whether the ratio of open voltage is qualified to judge winding coefficient.When a new generation's delivery fire
It is impossible to simulate rocket body motion by applying command voltage after arrow is communicated using 1553b bus, need to find a kind of simple
Method simulate rocket body motion in rocket ground test, and calculate winding coefficient after rrow machine computing.
Content of the invention
The technical problem to be solved in the present invention is to provide a kind of quick attitude control nonlinear circuit method of testing, can control system
In system integration test, the motion of simulation rocket body makes the sensitive attitude arriving rocket body of inertial measurement system (strapdown, gyro), velocity information, warp
After arrow carries Computing, attitude control electromagnetic valve operating state is controlled by complex control system, judges that in flight software, attitude control is non-
The correctness of linearity range design and reasonability.
In order to achieve the above object, a kind of quick attitude control nonlinear circuit test side of offer is provided
Method, wherein:
Main control microcomputer passes through to control turntable to apply triangular wave turn signal to strapdown inertial measurement unit, to simulate rocket body motion；
After the sensitive rocket body motion to simulation of strapdown inertial measurement unit, by 1553b bus by strapdown digit pulse amount change information
Pass to rrow machine；
Rrow machine calculates attitude angle signal and forms electromagnetic valve switch control signal after nonlinear network calculates, and leads to
Cross 1553b bus and be sent to ICU；
ICU receives rrow machine instruction, and orders about attitude control jet pipe according to electromagnetic valve switch control signal therein
Electromagnetic valve carries out open and close action；
The open and close action of ground checkout equipment real-time sampling electromagnetic valve, carries out winding coefficient calculating.
Preferably, described main control microcomputer controls turntable, is rotated according to the different stairstepping step-length of attitude angle step-length；Appearance
State angle step-length is divided into: big step-length, intermediate step and thresholding step-length, wherein big step-length > intermediate step > thresholding step-length；
The triangular wave applying when turntable starts and rotates, using big step-length；When triangular wave applies mid-term, spacer step in use
Long；When near switching threshold electromagnetic valve saltus step, usage threshold step-length.
Preferably, the attitude angle letter that the actual act state of described main control microcomputer real-time query electromagnetic valve and rrow machine calculate
Number, when electromagnetic valve operating state changes, main control microcomputer records the rocket body attitude information of current time, and electromagnetic valve is closed
Attitude when closing divided by open when attitude try to achieve winding coefficient, and discriminate whether qualified.
The design of the present invention: the system schema being communicated using 1553b bus according to new generation's carrier rocket, using number
The real-time of word signal and accuracy, when testing to control system Switch operated by change of position circuit, a kind of rational by design
Testing scheme, can allow the actual sensitivity of IMU to the rocket body kinestate of simulation, and metrical information is passed to arrow
Carry computer, rrow machine, through nonlinear Control network operations, controls attitude control jet pipe to carry out switch motion, meanwhile, main control microcomputer pair
Attitude information during attitude control nozzle solenoid action carries out back production, calculates winding coefficient, in order to rrow machine software attitude control non-thread
The design of property section is examined.
The method that the present invention adopts, compared with prior art, its advantage and beneficial effect are:
1st, a kind of quick attitude control nonlinear circuit method of testing is to be rotated by controlling outside turntable, makes strapdown inertial measurement unit actual
Change information is passed to rrow machine to after change in location by sensitivity, and rrow machine carries out nonlinear network after the attitude calculating reality
Calculate and control attitude control electromagnetism valve events, different from prior art, platform measurement system is not involved in test directly in detection porch
Apply analogue signal and control electromagnetism valve events, the test loop of this method is closer to the real state of flight of rocket；
2nd, this method, when calculating the winding coefficient of attitude control non-linear section, uses the actual attitude calculating of rrow machine
Angle, and current version uses simulation rocket body motion to feed the analog quantity that rrow machine carries out attitude computing, the calculating knot of this method
Fruit is more true, accurately；
3rd, use this method, when simulating rocket body motion it is not necessary to be used alone special test equipment applied voltage letter
Number it is only necessary to control inertial measurement system residing for turntable rotate can simulate, the test mode of this method is relatively reliable；
4th, this method does not change system mode in process of the test, and method of testing facilitates implementation, can be fast and effectively right
The design of attitude control system is examined, and is conducive to improving testability and the spreadability of control system ground test；
5th, through test examinations such as certain model control system synthesises test, the total surveys of whole rocket, this measuring technology can quickly, effectively
Attitude control nonlinear circuit is tested, scheme is rationally, respond well.
Brief description
Fig. 1 is the schematic diagram of quick attitude control nonlinear circuit method of testing of the present invention；
Fig. 2 is the flow chart of quick attitude control nonlinear circuit method of testing of the present invention；
Fig. 3 is the schematic diagram of attitude angle step-length in quick attitude control nonlinear circuit method of testing of the present invention.
Specific embodiment
A kind of quick attitude control nonlinear circuit method of testing of the present invention, main consideration is designed to content below:
Simulation rocket body moves, designs method of testing, determines attitude step-length.
1) design testing scheme；
As shown in figure 1, according to the feature of nonlinear switching, main control microcomputer passes through to control turntable to apply triangle to strapdown inertial measurement unit
Simulating rocket body motion, by strapdown digit pulse amount change information transmission to rrow machine, rrow machine resolves 1553b bus ripple turn signal
Go out attitude angle signal and calculated through nonlinear network, by 1553b bus, electromagnetic valve switch control signal is issued comprehensive
Hop controller, ICU controls attitude control nozzle solenoid open and close action according to the rrow machine instruction receiving, and ground test sets
The open and close action of standby real-time sampling electromagnetic valve, carries out winding coefficient calculating.
2) analog quantity applies design；
Because nonlinear switching control system is that requirement jet pipe when attitude reaches certain fixed value is opened in design
Or close, in test process, the correctness that design for checking system, by applying the rocket body that the form control of triangular wave is simulated
Attitude changes by a small margin, and whether checking rrow machine computing is correct, and the control accuracy of attitude angle (attitude angular rate), just determine back
The computational accuracy of ring system number, accordingly, it would be desirable to the attitude angle step-length that turntable is simulated with rocket body motion carries out appropriate design.
As shown in figure 3, for ensureing measuring accuracy, devising the step of three kinds of stepped change during applying analog quantity
Long, be respectively: big step-length, intermediate step and thresholding step-length, wherein big step-length > intermediate step > thresholding step-length.Start to turn in turntable
Using big step-length during dynamic applying triangular wave, triangular wave applies mid-term and uses intermediate step, attached near switching threshold electromagnetic valve saltus step
Usage threshold step-length when near.
3) on-off circuit sampling and calculating；
As shown in Fig. 2 in system integration testing, being used electromagnetic valve to come as the load equipment that control system synthesises are tested
Engine electromagnetic valve load on equivalent arrow.The every way solenoid valve of surface em valve test terminal real-time monitoring is given in ICU
The appearance that electromagnetic valve switch action during open and close signal, the operating state of main control microcomputer real-time query electromagnetic valve and rrow machine calculate
State angle (attitude angular rate), when electromagnetic valve operating state changes, main control microcomputer records the rocket body attitude of current time
Information, by attitude during closed electromagnetic valve divided by open when attitude try to achieve winding coefficient, and discriminate whether qualified.
Further describe and verify the method for the present invention below by way of specific embodiment:
According to the design requirement of attitude control system non-linear section, when attitude is more than enabling thresholding, rrow machine should control appearance
Control jet pipe is in opening, when rocket body attitude is less than and closes the door thresholding, controls attitude control jet pipe to close, and winding coefficient=thresholding of closing the door/
Enabling thresholding.
Attitude control nonlinear circuit test process, comprises:
1st, rotated with mould by setting step-length by the frame that turns that main control microcomputer controls three-axle table certain attitude direction corresponding
Intend motion in flight course for the rocket body；
Wherein, set step-length to refer to, the rotation step-length of turntable is designed to stairstepping, control in open and close near threshold and turn
Platform is rotated by the low-angle of turntable energy accuracy of identification, to reach more accurate test result；
2nd, inertial measurement system by sensitivity to rocket motion state pass to arrow carry computer；
3rd, rrow machine, by the attitude after resolving, provides the operating state instruction of attitude control electromagnetic valve after attitude control computing, leads simultaneously
The rocket body attitude in control this moment of computer search；
4th, ICU is instructed by rrow machine and controls attitude control electromagnetic valve to carry out switch motion, the electromagnetism of main control microcomputer inquiry simultaneously
The actual act state of valve, and record rocket body attitude during electromagnetic valve state change；
5th, main control microcomputer according to rocket body Attitude Calculation winding coefficient during electromagnetic valve actual act and is judged.
The test result of attitude non-linear section is as shown in table 2 below.
Above method is feasible through certain model control system each stage integration test checking.
In sum, present invention is particularly suitable for being tested using the attitude control nonlinear circuit under 1553b bus, by design
Rationally, feasible testing scheme, to simulate rocket body motion, examines rrow machine flight software that attitude control system non-linear section is designed
Correctness and reasonability, simultaneously ensure system test coverage.
Although present disclosure has been made to be discussed in detail by above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read the above, for the present invention's
Multiple modifications and substitutions all will be apparent from.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (2)
1. a kind of quick attitude control nonlinear circuit method of testing it is characterised in that:
Main control microcomputer passes through to control turntable to apply triangular wave turn signal to strapdown inertial measurement unit, to simulate rocket body motion；
After the sensitive rocket body motion to simulation of strapdown inertial measurement unit, strapdown digit pulse amount is changed by information transmission by 1553b bus
To rrow machine；
Rrow machine calculates attitude angle signal and forms electromagnetic valve switch control signal after nonlinear network calculates, and passes through
1553b bus is sent to ICU；
ICU receives rrow machine instruction, and orders about the electromagnetism of attitude control jet pipe according to electromagnetic valve switch control signal therein
Valve carries out open and close action；
The open and close action of ground checkout equipment real-time sampling electromagnetic valve, carries out winding coefficient calculating；
Wherein, described main control microcomputer controls turntable, is rotated according to the different stairstepping step-length of attitude angle step-length；Attitude angle walks
Length is divided into: big step-length, intermediate step and thresholding step-length, wherein big step-length > intermediate step > thresholding step-length；
The triangular wave applying when turntable starts and rotates, using big step-length；When triangular wave applies mid-term, using intermediate step；Lean on
When near nearly switching threshold electromagnetic valve saltus step, usage threshold step-length.
2. the method for claim 1 it is characterised in that
The attitude angle signal that the actual act state of described main control microcomputer real-time query electromagnetic valve and rrow machine calculate, works as electromagnetic valve
When operating state changes, main control microcomputer records the rocket body attitude information of current time, by attitude during closed electromagnetic valve
Divided by open when attitude try to achieve winding coefficient, and discriminate whether qualified.
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| CN201410394971.9A CN104122888B (en) | 2014-08-12 | 2014-08-12 | Quick posture control nonlinear circuit test method |
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| CN201410394971.9A CN104122888B (en) | 2014-08-12 | 2014-08-12 | Quick posture control nonlinear circuit test method |
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| CN104122888B true CN104122888B (en) | 2017-01-25 |
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| CN105337829B (en) * | 2015-10-10 | 2018-10-30 | 上海新跃仪表厂 | Rocket gesture stability winding coefficient interpretation method based on 1553B bus datas |
| CN113008270B (en) * | 2021-02-22 | 2022-12-27 | 上海航天控制技术研究所 | Ten-meter optical fiber inertia combination precision testing method based on three-bus interface |
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Effective date of registration: 20170621 Address after: 200233 Xuhui District, Yishan Road, No. 710, Patentee after: SHANGHAI AEROSPACE CONTROL TECHNOLOGY RESEARCH INSTITUTE Address before: 200233 Xuhui District, Yishan Road, No. 710, Patentee before: Shanghai Xinyue Instrument Factory |