CN104777757A - Closed-loop simulation testing system and method for ground attitude control of microsatellites - Google Patents
Closed-loop simulation testing system and method for ground attitude control of microsatellites Download PDFInfo
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- CN104777757A CN104777757A CN201410017708.8A CN201410017708A CN104777757A CN 104777757 A CN104777757 A CN 104777757A CN 201410017708 A CN201410017708 A CN 201410017708A CN 104777757 A CN104777757 A CN 104777757A
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Abstract
The invention relates to a closed-loop simulation testing system and method for ground attitude control of microsatellites, in particular to a quick simulation system and method for attitude control of microsatellites. The quick simulation system and the method can simulate and realize an attitude control dynamical model and simulate various attitude control component models and interfaces and dynamically configures board cards according to the number of components. The attitude control simulation system quickly constructs the dynamical model of a corresponding track and a corresponding simulator according to the requirements of a control system, forms the truth interface, and quickly carries out simulation testing of an attitude-control control system of the microsatellites. The system and the method are strong in quick reconfigurability, do not need a special component simulator during simulation, only need to deploy the interface board cards to realize all component interfaces, and realize component models by deploying a controller board.
Description
Technical field
The present invention relates to a kind of analogue system, be specifically related to a kind of microsatellite ground appearance control closed cycle simulation test system and method.
Background technology
Usually, satellite is made up of some subsystems, and wherein Attitude and orbit control subsystem is the general name of attitude control system and control system, is called for short rail control subsystem (AOCS).Attitude control subsystem is the subsystem for controlling the attitude of satellite, and wherein satellite gravity anomaly comprises attitude stabilization and attitude maneuver two parts, and satellite attitude stabilization mode mainly contains gravity gradient stabilization, spin stabilization and three-axis stabilization; Orbit control subsystem is the subsystem for controlling satellite orbit, completes transfer orbital control, track keeps, return the tasks such as control and orbital rendezvous.
Rail control subsystem all needs to carry out ground appearance control closed cycle simulation test before heaven, and this is a very important link.The emulation of rail control subsystem comprises Modling model, verification model, test and analysis result, improved model, verifies, the process that a series of continuous iterative test optimizes such as to improve again.Mainly the mathematical model of subsystem is performed an analysis emulation in conceptual approach and schematic design phase, optimize and determine parameter, until complete total system mathematical simulation.In the definition phase, along with the interface relationship etc. of satellite dynamics characteristic, each characteristics of components, mission program, environmental factor model and rail control subsystem and other subsystems is constantly perfect, realistic model and analytical test also constantly refinement, to refine, now can carry out system semi physical and full physical simulation by replacement mathematical model in kind stage by stage.Semi-physical simulation uses real control circuit and spaceborne Attitude and orbit control computer software and hardware, real sensor and interface circuit thereof, with satellite dynamics and topworks's mathematical simulation software-driven machinery turntable, and the attitude of analog satellite and orbital motion.This is checking and improves Controller gain variations, improves the hardware and software development of controller, and examines the operating compatibility of subsystem, adaptive efficiency test means.The full physical simulation being all made up of system material object also can be carried out when having ready conditions and be necessary.Full physical simulation test is except using real control circuit, computing machine, sensor and interface circuit thereof, and the satellite health of simulation and the motion of annex thereof have same dynamics with real motion also to utilize the gravity unloading such as air floating table and air cushion device to ensure.Semi-physical simulation and full physical simulation are due to the restriction by technology and economic condition, usually be difficult to comprise all dynamics and environmental baseline, particularly be difficult to realize all conditions, therefore its significance and effect are mainly to the checking of mathematical model and the confirmation to systematic mathematical simulation result simultaneously.The reliability of rail control subsystem is related to the success or failure of whole star, and rail control ground test must be true to nature, close to realistic situation.
But, though various simplification means have appearred in the emulation testing of moonlet in prior art, be generally all the satellite often designing a model, corresponding testing apparatus will be developed.This way extends the R&D cycle undoubtedly, improves R&D costs, is unfavorable for that microsatellite is tested fast.
Summary of the invention
The invention provides a kind of microsatellite appearance control high-speed simulation system and method, can the Realization of Simulation appearance control kinetic model, emulate various appearance control partial model and interface, and carry out dynamic-configuration board according to number of components.Appearance control analogue system carrys out rapid build respective rail kinetic model according to the requirement of control system, and corresponding simulator, and forms real interface, the appearance control Control System Imitation test of rapid deployment microsatellite.The quick reconfigurability of the present invention is strong, and emulation, completely without the need to specialize component simulator, only needs docking port board to allocate and realizes all unit interfaces, realizes partial model to controller board allotment.
The invention provides a kind of microsatellite ground appearance control closed cycle simulation test system, it is characterized in that, described system comprises:
Multiple programmable interface plate;
At least one controller board, has multiple model in described controller board;
Described model comprises appearance control kinetic model, partial model;
Described partial model comprises execution unit model and sensor partial model;
According to input configuration information dynamic-configuration controller board and programmable interface plate, download through compiling model to controller board, the interface of configurating programmable interface board and sequential.
The present invention also provides a kind of emulation mode of microsatellite ground appearance control closed cycle simulation test system, it is characterized in that, comprises the following steps:
The Integrated Model storehouse based on simulink is set up in host computer;
According to the designing requirement of different Satellite Attitude prosecutor case, select different models to combine, and cross compile is carried out to model;
Dynamic simulation is carried out according to cross compile result.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Appearance control emulate system architecture figure of the present invention shown in Fig. 1;
It is posture control system closed-loop simulation workflow diagram of the present invention shown in Fig. 2;
That the whole star of the present invention is biased Controlling model arrangement plan shown in Fig. 3;
That the whole star of the present invention is biased Controlling model arrangement plan shown in Fig. 4;
It is three-axis stabilization Controlling model arrangement plan of the present invention shown in Fig. 5;
It is three-axis stabilization Controlling model arrangement plan of the present invention shown in Fig. 6.
concrete reality tries example
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making other embodiments all obtained under creative work prerequisite, belong to the scope of protection of the invention.
The invention provides a set of quick restructural, the ground appearance control emulation test system that can adapt to different model moonlet, the test job authenticating to each stages such as model test from design and simulation can be realized.Below in conjunction with instantiation, the present invention is described in detail.
As shown in Figure 1, illustrated appearance control analogue system is board system more than, specifically comprises multiple interface board and at least one controller board.Described interface board is programmable, intelligent interface board, can be the board of the PC framework of standard.The integrated attitude dynamics model of described controller board and partial model, get final product real time execution by configuration.Boards all in appearance control analogue system realizes configuration by host computer.Described interface board realizes the hardware interface corresponding with partial model, and according to arranging the timing requirements meeting interface.Adopt STD bus to carry out communication between board, and carry out synchronizing signal sequential by synchronizing signal.
During appearance control emulation, relate to multiple different parts and interface, and according to different content measurements, the parts related to are not identical with the quantity of interface yet.Native system is an extendible system, and controller board is by the attitude dynamics model required for host computer download and configuration and partial model; Controlled the quantity of expansion interface by the quantity increasing and decreasing interface board, by host computer, apolegamy is carried out to interface each in system simultaneously and arrange.Therefore, native system can be arranged in pairs or groups flexibly, not be used in test emulation process and introduces multiple stage signal condition machine and parts analog machine.
Namely energy the Realization of Simulation appearance control kinetic model of the present invention, emulate various appearance control partial model and interface, and carry out dynamic-configuration board according to the quantity of required parts.In operation, implementation model and hardware separate design completely, all operations all can realize by host computer configuration, comprises model and is downloaded to controller board, interface board interface sequence configuration etc.Interface board realizes all expansion interfaces and sequential, models all in controller board, arbitrarily can configure additions and deletions at host computer, and the interface that parts are corresponding simultaneously also correspondence carries out additions and deletions, thus realizes complete posture control system closed-loop simulation.
As shown in Figure 2, controller board loads all models, and described model comprises attitude dynamics model, partial model.And partial model comprises execution unit model, sensor partial model, accessory model (not shown).Wherein, execution unit model is the model of parts of simulation n-back test, such as, in flywheel model, magnetic torque model etc. one or more; Sensor partial model is the model of analog sensed parts, such as, in too quick model, top model, the quick model of star, magnetometer model, GPS model etc. one or more; Accessory model is one or more in other models that may relate to such as observing and controlling assembly simulator model, power source model, thermal control model, and accessory model is arranged according to actual needs, according to circumstances also can not need accessory model.
In an embodiment of the present invention, in host computer, first setting up the Integrated Model storehouse based on simulink, storehouse comprises attitude dynamics model, execution unit model, sensor partial model, and other can be used for the model of satellite test emulation.Such as: observing and controlling assembly simulator model, power source model, thermal control model etc., the s-function that these models are combined based on C function by simulink graphic programming realizes.Simulink is one of most important assembly of MATLAB, and it provides a Modelling of Dynamic System, emulation and the comprehensive the integration environment analyzed.Simulink has and adapts to wide, structure and clear process and emulate the advantages such as meticulous, closing to reality, efficiency are high, flexible, and has been widely used in complex simulation and the design of control theory and digital signal processing based on above advantage Simulink.There are a large amount of third party softwares and hardware to can be applicable to or be required be applied to Simulink simultaneously.
Secondly, model is configured, according to the designing requirement of different Satellite Attitude prosecutor case, selects different models to combine.Its key step comprises:
1) obtain design of satellites configuration information and satellite orbit and motor-drivenly require information, described information is imported in host computer;
2) determining means model, according to the parameter of design of satellites configuration information determination analogue system, configuration execution unit model and sensor partial model;
3) appearance control kinetic model is determined, according to satellite orbit and motor-drivenly require information, configuration appearance control kinetic model; Delete wherein unnecessary assembly;
4) according to design of satellites configuration information, the interface of different partial model is configured;
5) according to the above-mentioned partial model determined, appearance control kinetic model and interface message, carry out cross compile to the code of model;
Finally, dynamic simulation is carried out according to cross compile result.
The present invention adopts real time operating system, for the code cross compile to simulink model module, generates executable code.When controller board real-time system is run, dynamic loads described executable code.
Wherein, in host computer layoutprocedure, model is changed the model parameter in simulink and the interface parameters in S-function mainly through transferring different configuration scripts from interface configuration, and rear cross compile generates executable code.Wherein the realization of interface configuration is run in executable code by analogue system to be realized by shared drive dynamic-configuration interface board.Host computer carries out communication mainly through network interface and analogue system.All unit interfaces can be DA/AD, PCM, Digital I/O, serial ports, PWM etc.
Further, according to design of satellites configuration information and satellite orbit and motor-drivenly require information generation unit part model parameter allocation list and kinetic parameters allocation list.
Further, described according to design of satellites configuration information, configure the interface of different partial model, comprise further:
I). according to partial model parameter configuration table, determine the kind of the interface needing to use, the quantity of often kind of interface;
Ii). the quantity of the programmable interface plate needing to use board is determined according to the kind of interface and quantity;
Iii). select suitable programmable interface plate, and docking port is configured, sequential is arranged.
As shown in Figure 3, the present invention provides a kind of embodiment, and being that whole star is biased by a satellite configuration controls.Design configurations is 2 and backs up flywheel mutually, 2 are backed up three axle gyros, 1 three axis magnetometer, 1 three-axis magnetorquer, 1 GPS mutually, and 1 integration advances.Control required parts according to whole star is biased, select to realize the above-mentioned mathematical model that can realize the correspondence of above-mentioned functions.And as shown in Figure 4, each interface and parameter, sequential are configured and are arranged.Wherein flywheel interface 422 serial ports, baud rate is 115200, no parity check position, 1 position of rest.Three axle gyro interface 422 serial ports, baud rate is 460800, no parity check position, 1 position of rest.Three axis magnetometer interface DA mouth, precision prescribed 12, in switching time 600us.Three-axis magnetorquer interface PWM mouth, requires that pulsewidth is between 0-1s.GPS interface is 422 interfaces, and baud rate is 38400, no parity check position, 1 position of rest.Integration advances 422 mouthfuls, interface, and baud rate is 115200, no parity check position, 1 position of rest.After arranging, just can emulate the system of this emulation, by the effect of the Realization of Simulation, and test parameter, said system is assessed.
As shown in Figure 5, the present invention provides a kind of another embodiment, is that three-axis stabilization controls by satellite configuration.Design configurations is 3+1 flywheel, 3+1 single shaft gyro, and 1 star is quick, 1 three axis magnetometer, 1 three-axis magnetorquer, 1 GPS.Select the model needed, each interface and parameter, sequential are configured and are arranged.As shown in Figure 6, wherein flywheel interface 422 serial ports, baud rate is 115200, no parity check position, 1 position of rest.Single shaft gyro interface 422 serial ports, baud rate is 115200, no parity check position, 1 position of rest.Three axis magnetometer interface DA mouth, precision prescribed 12, in switching time 600us.Three-axis magnetorquer interface AD mouth, precision prescribed 12, in switching time 600us.GPS interface is pcm interface, and three-wire system PCM synchronizing signal comprises clock, gate, data.Star sensitive interface is 422 mouthfuls, and baud rate is 115200, no parity check position, 1 position of rest.
It should be noted that, the content such as information interaction, implementation between said apparatus and intrasystem each unit, due to the inventive method embodiment based on same design, particular content can see in the inventive method embodiment describe, repeat no more herein.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment is that the hardware that can carry out instruction relevant by program has come, this program can be stored in a computer-readable recording medium, storage medium can comprise: ROM (read-only memory) (ROM, Read Only Memory), random access memory (RAM, Random Access Memory), disk or CD etc.
Above to a kind of microsatellite appearance control high-speed simulation system that the embodiment of the present invention provides, be described in detail, apply specific case herein to set forth principle of the present invention and embodiment, the explanation of above embodiment just understands method of the present invention and core concept thereof for helping; Meanwhile, for one of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention.
Claims (12)
1. a microsatellite ground appearance control closed cycle simulation test system, it is characterized in that, described system comprises:
Multiple programmable interface plate;
At least one controller board, has multiple model in described controller board;
Described model comprises appearance control kinetic model, partial model;
Described partial model comprises execution unit model and sensor partial model;
According to input configuration information dynamic-configuration controller board and programmable interface plate, download through compiling model to controller board, the interface of configurating programmable interface board and sequential.
2. the system as claimed in claim 1, is characterized in that: described execution unit model execution unit model is the model of parts of simulation n-back test, and what comprise in flywheel model, magnetic torque model is one or more.
3. the system as claimed in claim 1, is characterized in that: described sensor partial model is the model of analog sensed parts, and what comprise in too quick model, top model, the quick model of star, magnetometer model, GPS model is one or more.
4. system according to claim 1, is characterized in that: boards all in emulation test system realizes configuration by host computer, and described programmable interface plate realizes the hardware interface corresponding with partial model.
5. system according to claim 1, is characterized in that: adopt STD bus to carry out communication between board, and carry out synchronizing signal sequential by synchronizing signal.
6. system according to claim 1, is characterized in that: programmable interface plate is the board of the PC framework of standard, and the unit interface of programmable interface plate is DA/AD, PCM, Digital I/O, serial ports, one or more in PWM.
7. the system as claimed in claim 1, is characterized in that: native system adopts real time operating system, and described partial model is simulink module, host computer is to the code cross compile of simulink module, generate executable code, when controller board real-time system is run, dynamic load.
8. the system as claimed in claim 1, is characterized in that: described partial model also comprises accessory model, completes back work, can be one or more in observing and controlling assembly simulator model, power source model, thermal control model.
9. an emulation mode for system as claimed in claim 1, is characterized in that, comprise the following steps:
The Integrated Model storehouse based on simulink is set up in host computer;
According to the designing requirement of different Satellite Attitude prosecutor case, select different models to combine, and cross compile is carried out to model;
3) dynamic simulation is carried out according to cross compile result.
10. the emulation mode of system as claimed in claim 9, is characterized in that, described step 2) comprise further:
A. obtain design of satellites configuration information and satellite orbit and motor-drivenly require information, described information is imported in host computer;
B. determining means model, according to the parameter of design of satellites configuration information determination analogue system, configuration execution unit model and sensor partial model;
C. appearance control kinetic model is determined, according to satellite orbit and motor-drivenly require information, configuration appearance control kinetic model;
D. according to design of satellites configuration information, the interface of different partial model is configured;
E. according to the partial model determined, appearance control kinetic model and interface message, carry out cross compile to the code of model.
The emulation mode of 11. systems as claimed in claim 10, is characterized in that: according to design of satellites configuration information and satellite orbit and motor-drivenly require information generation unit part model parameter allocation list and kinetic parameters allocation list.
The emulation mode of 12. systems as claimed in claim 11, is characterized in that, described according to design of satellites configuration information, configures the interface of different partial model, comprises further:
I). according to partial model parameter configuration table, determine the kind of the interface needing to use, the quantity of often kind of interface;
Ii). the quantity of the programmable interface plate needing to use board is determined according to the kind of interface and quantity;
Iii). select suitable programmable interface plate, and docking port is configured, sequential is arranged.
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| CN105487405A (en) * | 2015-12-17 | 2016-04-13 | 西安测绘研究所 | Low-low tracking gravity measurement satellite semi-physical simulation system |
| CN105676836A (en) * | 2016-01-12 | 2016-06-15 | 上海卫星工程研究所 | Spin-up stage satellite simulation device of spin satellite |
| CN105867350A (en) * | 2016-04-18 | 2016-08-17 | 长光卫星技术有限公司 | Satellite ground closed-loop simulator based on PXI architecture |
| CN106227935A (en) * | 2016-07-20 | 2016-12-14 | 浙江大学 | The system of a kind of satellite gravity anomaly integrative simulation and implementation method |
| CN106325292A (en) * | 2016-10-17 | 2017-01-11 | 湖北航天技术研究院总体设计所 | Universal controller of spaceflight carrier rocket |
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| CN110673592A (en) * | 2019-10-25 | 2020-01-10 | 深圳航天东方红海特卫星有限公司 | Universal fault detection and test system for multiple subsystems of microsatellite |
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| CN112666847A (en) * | 2021-03-18 | 2021-04-16 | 长沙天仪空间科技研究院有限公司 | Satellite test system and method suitable for various simulation states |
| CN112731963A (en) * | 2020-12-14 | 2021-04-30 | 上海卫星工程研究所 | System and method for strictly regressing orbit control test under whole-satellite condition |
| CN113093690A (en) * | 2021-03-05 | 2021-07-09 | 杭州航天电子技术有限公司 | Detection apparatus for attitude control integrated controller |
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| CN105487405A (en) * | 2015-12-17 | 2016-04-13 | 西安测绘研究所 | Low-low tracking gravity measurement satellite semi-physical simulation system |
| CN105676836A (en) * | 2016-01-12 | 2016-06-15 | 上海卫星工程研究所 | Spin-up stage satellite simulation device of spin satellite |
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| CN105867350A (en) * | 2016-04-18 | 2016-08-17 | 长光卫星技术有限公司 | Satellite ground closed-loop simulator based on PXI architecture |
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| CN106325292B (en) * | 2016-10-17 | 2019-04-12 | 湖北航天技术研究院总体设计所 | A kind of space transporter general purpose controller |
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| CN108732939A (en) * | 2017-04-14 | 2018-11-02 | 北京空间技术研制试验中心 | Spacecraft ring heat control system modeling and simulating method based on Modelica language |
| CN107942722A (en) * | 2017-11-06 | 2018-04-20 | 航天东方红卫星有限公司 | A kind of moonlet Surface power drive emulation test method and system |
| CN109471421A (en) * | 2018-09-26 | 2019-03-15 | 中国空间技术研究院 | A kind of satellite control system gyro signal source and excitation producing method |
| CN109471421B (en) * | 2018-09-26 | 2020-07-14 | 中国空间技术研究院 | Gyro signal source of satellite control system and excitation generation method |
| CN109143280A (en) * | 2018-10-10 | 2019-01-04 | 上海微小卫星工程中心 | A kind of integrated state closed loop test system of satellite and corresponding test method |
| CN109856995A (en) * | 2019-03-04 | 2019-06-07 | 北京空间飞行器总体设计部 | A kind of whole star control subsystem analog platform towards test method verifying assessment |
| CN110471311A (en) * | 2019-08-15 | 2019-11-19 | 南京理工大学 | A kind of micro-nano satellite rail control semi-physical simulation synthesis experiment platform |
| CN110673592A (en) * | 2019-10-25 | 2020-01-10 | 深圳航天东方红海特卫星有限公司 | Universal fault detection and test system for multiple subsystems of microsatellite |
| CN110673592B (en) * | 2019-10-25 | 2021-01-01 | 深圳航天东方红海特卫星有限公司 | Universal fault detection and test system for multiple subsystems of microsatellite |
| CN111679596A (en) * | 2020-04-26 | 2020-09-18 | 苏州泰富晶宇科技有限公司 | Reconstruction method of satellite I/O board card and reconfigurable satellite I/O board card system |
| CN112731963A (en) * | 2020-12-14 | 2021-04-30 | 上海卫星工程研究所 | System and method for strictly regressing orbit control test under whole-satellite condition |
| CN113093690A (en) * | 2021-03-05 | 2021-07-09 | 杭州航天电子技术有限公司 | Detection apparatus for attitude control integrated controller |
| CN112666847A (en) * | 2021-03-18 | 2021-04-16 | 长沙天仪空间科技研究院有限公司 | Satellite test system and method suitable for various simulation states |
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