CN104777758A - General purpose simulator for microsatellite equipment - Google Patents
General purpose simulator for microsatellite equipment Download PDFInfo
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- CN104777758A CN104777758A CN201410019110.2A CN201410019110A CN104777758A CN 104777758 A CN104777758 A CN 104777758A CN 201410019110 A CN201410019110 A CN 201410019110A CN 104777758 A CN104777758 A CN 104777758A
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Abstract
The invention provides general purpose simulation equipment capable of being applied to different microsatellite equipment. The general purpose simulation equipment can cover various equipment assemblies in the whole testing stage of microsatellites, such as subassemblies in an attitude and orbit control subsystem, subassemblies of a monitoring subsystem and various load assemblies. Any part simulator can be reconstructed. The model of the simulator is separated from the hardware interface, and a mathematical model for equipment and the real electrical interface of equipment are simultaneously configured through upper computer software. The reconfigurability is strong, the special part simulator is not required by simulation, and only the upper computer software is configured.
Description
Technical field
The present invention relates to a kind of microsatellite ground checkout equipment, be specifically related to a kind of microsatellite Device-General simulator
Background technology
In recent years, digital prototype technology is more and more extensive in the application of space industry.Digital prototype technology combine with semi-true object emulation technology complete satellite fast design, Integration Assembly And Checkout, become spationautics development important directions, under this background, the research of virtual satellite technology more and more causes the attention of researcher.So-called virtual satellite represents each subsystem of satellite and each parts with digital simulation model accurately true to nature, and each subsystem model can be assembled into digitized simulation star quickly and easily.Embody the compositing characteristic of satellite, key property, information flow and moving law truly.Digitizing satellite technology can set up the geometry model machine of satellite, carries out digitizing mould dress and analyzes, the natural pattern dress before substituting.Meanwhile, digitizing satellite technology, by setting up light, mechanical, electrical, hot Professional Model, carries out simulation analysis to satellite, Monitoring Design result, the actual loading test that Some substitute is corresponding.In reality, microsatellite ground test is a most important ring before heaven, and on star, various part of appliance is various, often can not be here during test, thus affects testing efficiency, is badly in need of the universal simulator that can substitute rapidly, does not make test carry on a shoulder pole by mistake.
In test macro in the past, each subsystem analog machine versatility is strong, and simulator partly or entirely will redesign according to each equipment, is unfavorable for very much the development feature that the small star cycle is short.
Summary of the invention
The invention provides the general-purpose simulation equipment that one can adapt to microsatellite distinct device, be mainly used in simulation on-board equipment parts, realize docking to debug with true on-board equipment verifying.The various apparatus assemblies of the whole test phase of microsatellite can be covered, as the parts in rail control subsystem, the parts of tracking-telemetry and command subsystem, various load components.The present invention can arbitrarily reconstruct by component simulator arbitrarily.Be separated with hardware interface by the model of simulator, unified by upper computer software, carry out configuration device mathematical model simultaneously, the true electrical interface of configuration device.Reconfigurability is strong, and emulation, completely without the need to specialize component simulator, only need be configured the software of host computer.
The invention provides a kind of microsatellite Device-General simulator, it is characterized in that, described simulator comprises:
Multiple programmable interface plate;
At least one controller board, has multiple mathematical model in described controller board;
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 invention also discloses a kind of analogy method of described simulator, it is characterized in that, comprise the following steps:
1) equipment that will simulate is determined;
2) required mathematical model is determined, the quantity of each model and Parameters in Mathematical Model;
4) kind of required interface is determined, the quantity of each interface and interface correlation parameter;
5) cross compile is carried out to the code of selected model;
6) selected interface is configured;
7) corresponding equipment is simulated according to cross compile result and configuration data.
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.
Fig. 1 is an illustrated structural drawing by simulator;
Fig. 2 is the structural drawing of illustrated single flywheel system;
Fig. 3 is the transformational relation figure of illustrated flywheel model;
Fig. 4 is illustrated cross compile process flow diagram;
Fig. 5 is illustrated parameter modification process flow diagram;
Fig. 6 is the structural drawing of illustrated 4 fly wheel systems;
Fig. 7 is the hardware configuration of illustrated 4 fly wheel systems.
Embodiment
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 embodiment of the present invention provides a kind of microsatellite Device-General simulator, is described in detail respectively below.Software restraint of the present invention separate design completely.Only need be configured the quick realization that can realize device model at host computer, also can realize the simulation to the real various interface signal of equipment simultaneously.
As shown in Figure 1, illustrated microsatellite Device-General simulator is board system more than, has multiple interface board and at least one controller board, adopts STD bus to carry out communication, and carry out synchronizing signal sequential by synchronizing signal between plate.Host computer can unify configuration by controller board to all boards in described system.At least one controller board described comprises at least one main control panel, the mathematical model of operational outfit.Described interface board is programmable, intelligent interface board, and interface board realizes the various interface of DA/AD, IO, RS422 etc.Host computer and equipment carry out communication and configuration by netting twine.Described interface board is programmable, intelligent interface board, can be the board of the PC framework of standard.
Native system is as relating to multiple different parts and interface during simulator, and according to the content difference simulated, 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 mathematical model required for host computer download and configuration; 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, just can complete all work with an analog machine.1 machine need not be made separately to each subsystem or each parts.As long as hardware interface quantity is enough, all subsystems and dependent part assembly can concentrate on completely on a machine and realize, and are all realized with coordinating of Universal interface board by general purpose controller plate.
The present invention can simulate kind of mathematical model and interface, and carrys 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 and mathematical model is downloaded to controller board, interface board interface sequence configuration etc.Interface board realizes all expansion interfaces and sequential, mathematical models all in controller board, arbitrarily can configure additions and deletions at host computer, and the interface that parts are corresponding simultaneously also may correspond to and carries out additions and deletions, thus realizes various analog functuion.
Controller board loads all mathematical models, and described model comprises partial model.One or more in partial model flywheel model, magnetic torque model, too quick model, top model, the quick model of star, magnetometer model, GPS model, observing and controlling assembly simulator model, power source model, thermal control model etc.Common apparatus simulator can simulate the assembly of appearance control/thermal control/power supply/subsystem and various load on star.Both can to the checking of the interface emulates of parts docking electrical interface, also can the generation inputoutput data response of Reality simulation parts, carry out analog simulation checking.
In an embodiment of the present invention, in host computer, first setting up the integrated Mathematic Model Library based on simulink, storehouse comprises the various model that may use.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, universal simulator arranges and mainly comprises the following steps:
1) equipment that will simulate is determined;
2) required mathematical model is determined, the quantity of each model and Parameters in Mathematical Model;
4) kind of required interface is determined, the quantity of each interface and interface correlation parameter;
5) cross compile is carried out to the code of selected model;
6) selected interface is configured;
7) corresponding equipment is simulated according to cross compile result and configuration data.
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, determine required mathematical model, the quantity of each model and Parameters in Mathematical Model generation model parameter list;
Further, determine required interface, the quantity of each interface and interface correlation parameter generate interface parameters table;
As shown in Figure 2, the application provides a kind of simulator of simulating single flywheel.First, system determine simulate to as if single flywheel; Simulate single flywheel to need to use flywheel model and relevant submodel; Simulate single flywheel to need to use the interface on multiple interface board, and arrange each parameter, as 1 tunnel 422 serial ports, baud rate is 115200, no parity check position, 1 position of rest, 1 road DA exports, precision 12, for flywheel voltage value, 1 tunnel pulse exports, and is Speed of Reaction Wheels counting.
As shown in Figure 3, flywheel simulator concrete model, mainly through using S-function functional form in simulink, accesses the shared drive address that the planning of specifying is good, stick into line parameter setting data alternately with interface board, and realized configuration and the conversion of parameter by simulink mathematical model.Selected mathematical model flywheel model can receive the moment information of input, and moment information is converted to concrete rotating speed, the information such as voltage, thus realizes the simulation to flywheel.
As shown in Figure 4, after completing the configuration of all models and interface, cross compile is carried out to the code of selected model; Simulink and vxworks cross compile generates executable code, and downloads to the operation of control panel internal memory by network interface, final realization approaching and simulation flywheel.
As shown in Figure 5, to flywheel operational factor Dynamic Configuration Process, relate to change parameter sometimes, as change baud rate.At upper industrial computer, use visual c++ 6.0 to edit host computer optimum configurations interface, inside establish baud rate edit box, all parameters that need arrange, unified packing by network interface passes to positive moving model code in controller board internal memory.Model code deposits controller board and the predetermined shared memory space of interface board by receiving baud rate data, and interface board takes out the data in shared drive address, and carries out self serial port setting, finally realizes the change of baud rate.
As shown in Figure 6, the application also provides the simulator of a kind of simulation four flywheels, and general posture control system all needs use 4 flywheels.Form four flywheels and share three pieces of board interfaces, take DA plate 4 tunnel, serial ports plate 4 tunnel, output 4 tunnel of IO plate, inputs 4 tunnels.Also be add by the software of configuration host computer the hardware configuration that 3 flywheels realize four flywheel simulators again.Concrete structure as shown in Figure 7.
The application is not limited to the simulation to flywheel, utilizes the principle of the application, can to magnetic torque, and the plurality of devices such as GPS are simulated, and these equipment can be represented by simulink mathematical model.And the interface of equipment does not always need to use simulink model, the application also can the compatible interface sequence communication to simple analog machine, without the need to adding simulink model.
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 Device-General simulator 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 (11)
1. a microsatellite Device-General simulator, is characterized in that, described simulator comprises:
Multiple programmable interface plate;
At least one controller board, has multiple mathematical model in described controller board;
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. simulator as claimed in claim 1, is characterized in that: described mathematical model can be one or more in flywheel model, magnetic torque model, too quick model, top model, the quick model of star, magnetometer model, GPS model.
3. simulator according to claim 1, is characterized in that: boards all in simulator realizes configuration by host computer, and described programmable interface plate realizes the hardware interface corresponding with partial model.
4. simulator 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.
5. simulator 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.
6. simulator 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.
7. simulator as claimed in claim 1, is characterized in that: described simulator is an extendible system, and controller board is by the mathematical model required for host computer download and configuration; 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.
8. an analogy method for simulator as claimed in claim 1, is characterized in that, comprise the following steps:
1) equipment that will simulate is determined;
2) required mathematical model is determined, the quantity of each model and Parameters in Mathematical Model;
4) kind of required interface is determined, the quantity of each interface and interface correlation parameter;
5) cross compile is carried out to the code of selected model;
6) selected interface is configured;
7) corresponding equipment is simulated according to cross compile result and configuration data.
9. the analogy method of system as claimed in claim 8, is characterized in that: change the mathematical model parameter in simulink and the interface parameters in S-function by transferring different configuration scripts, and rear cross compile generates executable code.
10. the analogy method of system as claimed in claim 9, is characterized in that: wherein the realization of interface configuration is run in executable code by analogue system to be realized by shared drive dynamic-configuration interface board.
The analogy method of 11. systems as claimed in claim 8, it is characterized in that: during amendment parameter, at host computer, use visual c++ 6.0 to edit host computer optimum configurations interface, all parameters that need arrange, unified packing by network interface passes to positive moving model code in controller board internal memory; Model code deposits controller board and the predetermined shared memory space of interface board by receiving the supplemental characteristic after change, and interface board takes out the data in shared drive address, and carries out self serial ports or I/O is arranged.
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105319993A (en) * | 2015-11-27 | 2016-02-10 | 上海新跃仪表厂 | Hardware intermediate layer-based mini-type real-time simulation system |
| CN105974907A (en) * | 2016-05-12 | 2016-09-28 | 上海微小卫星工程中心 | Satellite attitude control ground simulation testing system |
| CN106370945A (en) * | 2016-08-24 | 2017-02-01 | 南京航空航天大学 | Rapid ground testing device and testing method for micro-satellite |
| CN107273575A (en) * | 2017-05-17 | 2017-10-20 | 哈尔滨工业大学 | Towards the satellite task autonomous Design method and system of rapid response to customer's need |
| CN107864021A (en) * | 2017-10-27 | 2018-03-30 | 深圳航天东方红海特卫星有限公司 | A kind of portable 422/CAN isolation tests device of microsatellite |
| CN108333958A (en) * | 2017-12-29 | 2018-07-27 | 北京航天测控技术有限公司 | A kind of multiplexing shape General Aviation Simulator |
| CN109739621A (en) * | 2018-12-28 | 2019-05-10 | 南京天溯自动化控制系统有限公司 | A kind of full soft data equipment simulating method of PaaSization |
| CN109992457A (en) * | 2019-03-11 | 2019-07-09 | 清华大学 | The test macro of stratification configurable type microsatellite |
| CN110489245A (en) * | 2019-08-07 | 2019-11-22 | 上海微小卫星工程中心 | Fault filling method and system based on remote procedure call |
| 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 |
| CN110687825A (en) * | 2019-09-25 | 2020-01-14 | 中国科学院微小卫星创新研究院 | Satellite single-machine simulation system and method |
| 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 |
| CN112666429A (en) * | 2020-12-03 | 2021-04-16 | 航天东方红卫星有限公司 | Satellite power supply interface measuring method |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105319993A (en) * | 2015-11-27 | 2016-02-10 | 上海新跃仪表厂 | Hardware intermediate layer-based mini-type real-time simulation system |
| CN105974907A (en) * | 2016-05-12 | 2016-09-28 | 上海微小卫星工程中心 | Satellite attitude control ground simulation testing system |
| CN106370945A (en) * | 2016-08-24 | 2017-02-01 | 南京航空航天大学 | Rapid ground testing device and testing method for micro-satellite |
| CN107273575A (en) * | 2017-05-17 | 2017-10-20 | 哈尔滨工业大学 | Towards the satellite task autonomous Design method and system of rapid response to customer's need |
| CN107273575B (en) * | 2017-05-17 | 2021-06-22 | 哈尔滨工业大学 | Satellite task autonomous design method and system for quick response requirements |
| CN107864021A (en) * | 2017-10-27 | 2018-03-30 | 深圳航天东方红海特卫星有限公司 | A kind of portable 422/CAN isolation tests device of microsatellite |
| CN108333958A (en) * | 2017-12-29 | 2018-07-27 | 北京航天测控技术有限公司 | A kind of multiplexing shape General Aviation Simulator |
| CN109739621A (en) * | 2018-12-28 | 2019-05-10 | 南京天溯自动化控制系统有限公司 | A kind of full soft data equipment simulating method of PaaSization |
| CN109992457B (en) * | 2019-03-11 | 2020-11-06 | 清华大学 | Testing system of hierarchical configurable microsatellite |
| CN109992457A (en) * | 2019-03-11 | 2019-07-09 | 清华大学 | The test macro of stratification configurable type microsatellite |
| CN110489245A (en) * | 2019-08-07 | 2019-11-22 | 上海微小卫星工程中心 | Fault filling method and system based on remote procedure call |
| CN110489245B (en) * | 2019-08-07 | 2022-03-11 | 上海微小卫星工程中心 | Remote Procedure Call (RPC) -based fault injection method and system |
| CN110687825A (en) * | 2019-09-25 | 2020-01-14 | 中国科学院微小卫星创新研究院 | Satellite single-machine simulation system and method |
| 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 |
| CN112666429A (en) * | 2020-12-03 | 2021-04-16 | 航天东方红卫星有限公司 | Satellite power supply interface measuring method |
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Application publication date: 20150715 |