CN105426639A - Simulation system and method for six-degree-of-freedom mathematical simulation model - Google Patents
Simulation system and method for six-degree-of-freedom mathematical simulation model Download PDFInfo
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Abstract
The invention discloses a simulation system and method for a six-degree-of-freedom mathematical simulation model. The system comprises a source data online calculating model, a control model, the six-degree-of-freedom mathematical simulation model and a simulation experiment model. The source data online calculating model and the control model are used for outputting source data and the control quantity which are needed by simulation of the six-degree-of-freedom mathematical simulation model respectively. Then, the six-degree-of-freedom mathematical simulation model conducts simulation through the source data and the control quantity and outputs a simulation result. The simulation experiment model carries out simulation experiments through the simulation result, whether an actual simulation experiment result and a preset simulation experiment result are identical or not is compared, the comparison result is input into the source data online calculating model and the control model if the actual simulation experiment result and the preset simulation experiment result are not identical so as to adjust parameters of the source data online calculating model and the control model, and thus updating of the source data and adjusting of the control quantity are completed.
Description
Technical field
The application relates to Digital Simulation field, more particularly, relates to a kind of analogue system and method for six degree of freedom mathematic simulated mode.
Background technology
Carrying out the various emulation occasion such as airflight emulation, underwater surface navigation emulation, all be unable to do without the mathematical model of simulated object.Airflight is emulated; need to set up aerial vehicle simulation model; for the water surface or underwater navigation emulation; need mimetic surface or submarine navigation device model; these simulated objects, usually can comprise the simulation of simulation to barycenter translation process and opposing connection barycenter rotation process, barycenter translation process need is simulated by three degree of freedom; rotation around center of mass process need is simulated by other three degree of freedom, therefore needs the motion process being described simulated object by six-freedom degree.
Any one mathematic simulated mode described with six-freedom degree, its ultimate principle is all obtain mathematical model according to Newton's laws of motion and Rigid Body in Rotation With law derivation formula, all needs to obtain the resultant moment (corresponding three degree of freedom in addition) of making a concerted effort on (corresponding three degree of freedom) and three directions in three directions acted on object at modeling process.
For dummy vehicle, act on carry-on making a concerted effort, except there being gravity, thrust, also has aerodynamic force, and aerodynamic force and the configuration design of aircraft body have much relations, equally, act on carry-on resultant moment, except the moment caused except having gravity and thrust eccentric, the moment caused when also having Aerodynamic force action point not on barycenter, aerodynamic moment also has much relations with the configuration design of aircraft body, these data relevant to aerodynamic configuration, be referred to as aerodynamic data, same reason, submarine navigation device motion model is described, also the hydrodynamic force data obtaining submarine navigation device are needed.
The source data that current six degree of freedom mathematic simulated mode is required when emulating, as aerodynamic data, hydrodynamic force data need to be obtained by method of interpolation under normal circumstances, namely in advance by experiment or computational tool obtain organize source data more, and then utilize method of interpolation determine current emulation time walk needed for source data.In order to ensure simulation accuracy, need to preserve abundant source data in the data file in advance, simulation efficiency is low.
Summary of the invention
In view of this, the application provides a kind of analogue system and method for six degree of freedom mathematic simulated mode, to improve simulation efficiency.
To achieve these goals, the existing scheme proposed is as follows:
An analogue system for six degree of freedom mathematic simulated mode, comprising: the online computation model of source data, Controlling model, six degree of freedom mathematic simulated mode and emulation experiment model;
Wherein, the online computation model of described source data is used for the source data needed for described six degree of freedom mathematic simulated mode output;
Described Controlling model is used for the controlled quentity controlled variable needed for described six degree of freedom mathematic simulated mode output;
Described Six-degree-of-freedom Simulation mathematic simulated mode is used for carrying out Six-degree-of-freedom Simulation based on described source data and described controlled quentity controlled variable, Output simulation result;
Described emulation experiment model is used for utilizing described simulation result to carry out emulation experiment, and whether compare actual emulation experimental result consistent with default the simulation experiment result;
If not, then export the source data update instruction corresponding with comparative result to the online computation model of described source data, and send the controlled quentity controlled variable adjustment instruction corresponding with comparative result to described Controlling model;
Wherein said source data update instruction carries out the renewal calculating operation of source data for controlling the online computation model of source data;
Described controlled quentity controlled variable adjustment instruction carries out controlled quentity controlled variable adjustment operation for controlling described Controlling model.
Preferably, the online computation model of described source data comprises:
First instruction reception unit, for receiving the source data update instruction that described emulation experiment model sends;
Computing unit, for adjusting based on the model parameter of described source data update instruction to the online computation model of described source data, and utilizes the model parameter after adjustment to carry out renewal calculating to source data;
First output unit, for described six degree of freedom mathematic simulated mode output source data.
Preferably, described Controlling model comprises:
Second instruction reception unit, for receiving the controlled quentity controlled variable adjustment instruction that described emulation experiment model sends;
Controlled quentity controlled variable adjustment unit, adjusts controlled quentity controlled variable corresponding to instruction for exporting to described six degree of freedom mathematic simulated mode with described control.
Preferably, described emulation experiment model comprises:
Data receipt unit, for receiving the simulation result of described six degree of freedom mathematic simulated mode;
Experimental considerations unit, for utilizing described simulation result to carry out emulation experiment, obtains actual emulation experimental result;
Comparing unit, whether consistent with default the simulation experiment result for comparing actual emulation experimental result, export comparative result;
Instruction output unit, for when comparative result is inconsistent, exports the source data update instruction corresponding with comparative result to the online computation model of described source data, and sends the controlled quentity controlled variable adjustment instruction corresponding with comparative result to described Controlling model;
Wherein said source data update instruction carries out the renewal calculating operation of source data for controlling the online computation model of source data;
Described controlled quentity controlled variable adjustment instruction adjusts the controlled quentity controlled variable exported for controlling described Controlling model.
An emulation mode for six degree of freedom mathematic simulated mode, comprising:
The controlled quentity controlled variable that the source data exported based on the online computation model of source data and Controlling model export emulates, Output simulation result;
Utilize described simulation result to carry out emulation experiment, judge that whether actual emulation experimental result is consistent with default the simulation experiment result;
If not, the then instruction of result output source Data Update and controlled quentity controlled variable adjustment instruction based on the comparison, to control described source data online computation model, renewal calculating is carried out to source data, and Controlling model adjusts to controlled quentity controlled variable, until actual emulation experimental result is consistent with default the simulation experiment result.
Preferably, the online computation model of described source data carries out renewal to source data and calculates, and comprising:
Receive described source data update instruction;
Adjust based on the model parameter of described source data update instruction to the online computation model of described source data;
Utilize the model parameter after adjustment to carry out renewal to source data to calculate.
Through as shown from the above technical solution, this application discloses a kind of analogue system and method for six degree of freedom mathematic simulated mode.This system comprises: the online computation model of source data, Controlling model, six degree of freedom mathematic simulated mode and emulation experiment model.Wherein, the online computation model of source data and Controlling model are respectively used to export the source data needed for the emulation of six degree of freedom mathematic simulated mode and controlled quentity controlled variable.And then six degree of freedom mathematic simulated mode utilizes source data and controlled quentity controlled variable to emulate, and Output simulation result.Emulation experiment model utilizes simulation result to carry out emulation experiment, and whether compare actual emulation experimental result consistent with default the simulation experiment result, if inconsistent, comparative result is inputed to the Controlling model of the online computation model of source data, to adjust the model parameter of the online computation model of source data and Controlling model, thus the adjustment of the renewal completed source data and controlled quentity controlled variable.Compared with prior art, can according to the difference of actual emulation experimental result and default the simulation experiment result, online the source data needed for six degree of freedom mathematic simulated mode and controlled quentity controlled variable are upgraded and adjusted, without the need in advance by experiment or computational tool obtain organize source data more, improve simulation efficiency.
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 embodiments of the 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 the accompanying drawing provided.
Fig. 1 shows the structural representation of the analogue system of a kind of six degree of freedom mathematic simulated mode disclosed in one embodiment of the invention;
Fig. 2 shows the structural representation of the analogue system of a kind of six degree of freedom mathematic simulated mode disclosed in another embodiment of the present invention;
Fig. 3 shows the schematic flow sheet of the emulation mode of a kind of six degree of freedom mathematic simulated mode disclosed in another embodiment of the present invention.
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 the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
The structural representation of the analogue system of a kind of six degree of freedom mathematic simulated mode disclosed in one embodiment of the invention is shown see Fig. 1.
As shown in Figure 1, this system comprises: the online computation model 1 of source data, Controlling model 2, six degree of freedom mathematic simulated mode 3 and emulation experiment model 4.
Wherein, the online computation model of source data for calculating and exporting the source data needed for the emulation of six degree of freedom mathematic simulated mode, as the aerodynamic data required when carrying out aerial vehicle simulation and when carrying out submarine navigation device emulation required hydrodynamic force data.
It should be noted that, the foundation of the online computation model of this source data requires relevant with the emulation experiment of emulation experiment model.
Suppose that certain emulation experiment requires that an aircraft target flies at a constant speed according to desired trajectory, target following equipment for this emulation experiment model is followed the tracks of this target, the requirement of emulation experiment is that aircraft can fly at a constant speed, or change according to certain flight speed, namely make
or
(constant) then can set up an online computation model of source data, builds according to following formula
Pcosαcosβ-X-mgsinθ＝C
Then the computing formula of source data X is
X＝Pcosαcosβ-mgsinθ-C
Wherein, the parameters in above-mentioned formula is relevant with simulation object, does not introduce one by one at this.
Controlling model is used for the controlled quentity controlled variable needed for six degree of freedom mathematic simulated mode Output simulation.
Described six degree of freedom mathematic simulated mode is connected with Controlling model with the online computation model of described source data, for the controlled quentity controlled variable that the source data and Controlling model that obtain the online computation model output of source data export, and carry out Six-degree-of-freedom Simulation, Output simulation result based on the source data obtained and controlled quentity controlled variable.
Described emulation experiment model is connected with described six degree of freedom simulation model with the online computation model of described source data, described Controlling model respectively.Described emulation experiment model is for receiving the simulation result of described six degree of freedom mathematic simulated mode, emulation experiment is carried out according to described simulation result, and whether compare actual emulation experimental result consistent with default the simulation experiment result, if inconsistent, export the source data update instruction corresponding with comparative result and controlled quentity controlled variable adjustment instruction, recalculate to control the online computation model of source data the source data exported needed for six degree of freedom mathematic simulated mode, and control described Controlling model controlled quentity controlled variable is adjusted.
This application discloses a kind of analogue system and method for six degree of freedom mathematic simulated mode.This system comprises: the online computation model of source data, Controlling model, six degree of freedom mathematic simulated mode and emulation experiment model.Wherein, the online computation model of source data and Controlling model are respectively used to export the source data needed for the emulation of six degree of freedom mathematic simulated mode and controlled quentity controlled variable.And then six degree of freedom mathematic simulated mode utilizes source data and controlled quentity controlled variable to emulate, and Output simulation result.Emulation experiment model utilizes simulation result to carry out emulation experiment, and whether compare actual emulation experimental result consistent with default the simulation experiment result, if inconsistent, comparative result is inputed to the online computation model of source data and Controlling model, to adjust the model parameter of the online computation model of source data and Controlling model, thus the adjustment of the renewal completed source data and controlled quentity controlled variable.Compared with prior art, can according to the difference of actual emulation experimental result and default the simulation experiment result, can online the source data needed for six degree of freedom mathematic simulated mode and controlled quentity controlled variable be upgraded and be adjusted, organizing source data without the need to obtaining with computational tool by experiment in advance more, improve simulation efficiency.
The structural representation of the analogue system of a kind of six degree of freedom mathematic simulated mode disclosed in another embodiment of the present invention is shown see Fig. 2.
In the present embodiment, this system comprises: the online computation model 1 of source data, Controlling model 2, six degree of freedom mathematic simulated mode 3 and emulation experiment model 4.
Wherein, the online computation model of source data specifically comprises: the first instruction reception unit 11, computing unit 12 and the first output unit 13.
Wherein, described first instruction reception unit, for receiving the source data update instruction that emulation experiment model sends.And then computing unit adjusts model parameter based on described source data update instruction, and the model parameter after adjustment is utilized to carry out renewal calculating to source data.Described first output unit is used for described six degree of freedom mathematic simulated mode output source data.
Described Controlling model comprises: the second instruction reception unit 21 and controlled quentity controlled variable adjustment unit 22.
Wherein, described second instruction reception unit, for receiving the controlled quentity controlled variable adjustment instruction that emulation experiment model sends.
Described controlled quentity controlled variable adjustment unit, for adjusting controlled quentity controlled variable according to controlled quentity controlled variable adjustment instruction, and exports the controlled quentity controlled variable after adjustment to described six degree of freedom mathematic simulated mode.
Described emulation experiment model comprises: data receipt unit 41, experimental considerations unit 42, comparing unit 43 and instruction output unit 44.
Wherein, described data receipt unit, for receiving the simulation result of six degree of freedom mathematic simulated mode.
Experimental considerations unit, for utilizing described simulation result to carry out emulation experiment, obtains actual emulation experimental result.
Described comparing unit, whether consistent with default the simulation experiment result for comparing actual emulation experimental result, export comparative result.
Wherein, when comparative result is inconsistent, instruction output unit exports the source data update instruction corresponding with comparative result to the online computation model of described source data, and sends the controlled quentity controlled variable adjustment instruction corresponding with comparative result to Controlling model.Wherein said source data update instruction carries out the renewal calculating operation of source data for controlling the online computation model of source data.Described controlled quentity controlled variable adjustment instruction adjusts the controlled quentity controlled variable exported for controlling described Controlling model.
Be understandable that, when comparing unit exports different comparative results, the instruction that instruction output unit exports is also different.
The schematic flow sheet of the emulation mode of a kind of six degree of freedom mathematic simulated mode disclosed in another embodiment of the present invention is shown see Fig. 3.The method embodiment is in above-mentioned system embodiment based on each model.
As shown in Figure 3, the method comprises:
S101: the controlled quentity controlled variable that the source data exported based on the online computation model of source data and Controlling model export emulates, Output simulation result.
It should be noted that, need to build the online computation model of source data according to the requirement of experiment of emulation experiment in advance.As, the requirement of emulation experiment to simulation object simulation velocity or the requirement of rotating speed.Emulation experiment requires that the structure formula of the online computation model of source data constructed by difference is different.
S102: utilize described simulation result to carry out emulation experiment, judges that whether actual emulation experimental result is consistent with default the simulation experiment result;
S103: if not, the then instruction of result output source Data Update and controlled quentity controlled variable adjustment instruction based on the comparison.
Wherein, described source data update instruction carries out renewal calculating for controlling the online computation model of described source data to source data.Described controlled quentity controlled variable adjustment instruction adjusts controlled quentity controlled variable for controlling described Controlling model, until actual emulation experimental result is consistent with default the simulation experiment result.
It should be noted that, the concrete operations when upgrading source data of the online computation model of source data are as follows: receive the described source data update instruction that emulation experiment model issues, based on described source data update instruction, model parameter is adjusted, and then utilize the model parameter after adjustment to carry out renewal calculating to source data.
Finally, also it should be noted that, in this article, the such as relational terms of first and second grades and so on is only used for an entity or operation to separate with another entity or operational zone, and not necessarily requires or imply the relation that there is any this reality between these entities or operation or sequentially.And, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thus make to comprise the process of a series of key element, method, article or equipment and not only comprise those key elements, but also comprise other key elements clearly do not listed, or also comprise by the intrinsic key element of this process, method, article or equipment.When not more restrictions, the key element limited by statement " comprising ... ", and be not precluded within process, method, article or the equipment comprising described key element and also there is other identical element.
In this instructions, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiments, between each embodiment identical similar portion mutually see.
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the present invention.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein can without departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (6)
1. an analogue system for six degree of freedom mathematic simulated mode, is characterized in that, comprising: the online computation model of source data, Controlling model, six degree of freedom mathematic simulated mode and emulation experiment model;
Wherein, the online computation model of described source data is used for the source data needed for described six degree of freedom mathematic simulated mode output;
Described Controlling model is used for the controlled quentity controlled variable needed for described six degree of freedom mathematic simulated mode output;
Described Six-degree-of-freedom Simulation mathematic simulated mode is used for carrying out Six-degree-of-freedom Simulation based on described source data and described controlled quentity controlled variable, Output simulation result;
Described emulation experiment model is used for utilizing described simulation result to carry out emulation experiment, and whether compare actual emulation experimental result consistent with default the simulation experiment result;
If not, then export the source data update instruction corresponding with comparative result to the online computation model of described source data, and send the controlled quentity controlled variable adjustment instruction corresponding with comparative result to described Controlling model;
Wherein said source data update instruction carries out the renewal calculating operation of source data for controlling the online computation model of source data;
Described controlled quentity controlled variable adjustment instruction carries out controlled quentity controlled variable adjustment operation for controlling described Controlling model.
2. system according to claim 1, is characterized in that, the online computation model of described source data comprises:
First instruction reception unit, for receiving the source data update instruction that described emulation experiment model sends;
Computing unit, for adjusting based on the model parameter of described source data update instruction to the online computation model of described source data, and utilizes the model parameter after adjustment to carry out renewal calculating to source data;
First output unit, for described six degree of freedom mathematic simulated mode output source data.
3. system according to claim 1, is characterized in that, described Controlling model comprises:
Second instruction reception unit, for receiving the controlled quentity controlled variable adjustment instruction that described emulation experiment model sends;
Controlled quentity controlled variable adjustment unit, adjusts controlled quentity controlled variable corresponding to instruction for exporting to described six degree of freedom mathematic simulated mode with described control.
4. system according to claim 1, is characterized in that, described emulation experiment model comprises:
Data receipt unit, for receiving the simulation result of described six degree of freedom mathematic simulated mode;
Experimental considerations unit, for utilizing described simulation result to carry out emulation experiment, obtains actual emulation experimental result;
Comparing unit, whether consistent with default the simulation experiment result for comparing actual emulation experimental result, export comparative result;
Instruction output unit, for when comparative result is inconsistent, exports the source data update instruction corresponding with comparative result to the online computation model of described source data, and sends the controlled quentity controlled variable adjustment instruction corresponding with comparative result to described Controlling model;
Wherein said source data update instruction carries out the renewal calculating operation of source data for controlling the online computation model of source data;
Described controlled quentity controlled variable adjustment instruction adjusts the controlled quentity controlled variable exported for controlling described Controlling model.
5. an emulation mode for six degree of freedom mathematic simulated mode, is characterized in that, comprising:
The controlled quentity controlled variable that the source data exported based on the online computation model of source data and Controlling model export emulates, Output simulation result;
Utilize described simulation result to carry out emulation experiment, judge that whether actual emulation experimental result is consistent with default the simulation experiment result;
If not, the then instruction of result output source Data Update and controlled quentity controlled variable adjustment instruction based on the comparison, to control described source data online computation model, renewal calculating is carried out to source data, and Controlling model adjusts to controlled quentity controlled variable, until actual emulation experimental result is consistent with default the simulation experiment result.
6. method according to claim 5, is characterized in that, the online computation model of described source data carries out renewal to source data and calculates, and comprising:
Receive described source data update instruction;
Adjust based on the model parameter of described source data update instruction to the online computation model of described source data;
Utilize the model parameter after adjustment to carry out renewal to source data to calculate.
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