CN105519266B - The ground integration test device and method of spatial multiplexing load system - Google Patents
The ground integration test device and method of spatial multiplexing load systemInfo
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- CN105519266B CN105519266B CN201218005729.XA CN201218005729A CN105519266B CN 105519266 B CN105519266 B CN 105519266B CN 201218005729 A CN201218005729 A CN 201218005729A CN 105519266 B CN105519266 B CN 105519266B
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Abstract
The invention discloses a kind of ground integration test device and method of spatial multiplexing load system, integration test system divides is become several essential part, inside and the data layout and the host-host protocol that all define standard each other of each several part, then corresponding host-host protocol, driving and a task object storehouse is defined for different mission payloads, ONLINE RECOGNITION, driving, resource distribution are carried out to different task load, the fast integration of load of finishing the work and test.The present invention can on the basis not changing test macro general structure, only change corresponding test assignment load and can complete building and test the ground integration test system of corresponding task load, decrease expense and the development time of ground integrated system exploitation, improve versatility and the transplantability of software and hardware in system, for the integration testing of new mission payload offers convenience.<pb pnum="1" />
Description
Technical field
The present invention relates to a kind of ground integration test method of multitask load.
Background technology
At present, for the exploitation of the ground integrated test system of mission payload, generally adopt " load one integrated system " pattern, namely ground integrated test system needs according to mission payload feature, soft hardware equipment targetedly in design system, and software development just can need be carried out after hardware development.The weak point of this development mode: first, add the development time, owing to adopting man-to-man pattern, when designing, need for the feature of mission payload and method of testing and flow process, design this integrated test system targetedly, comprise system composition, function, flow process, data layout etc., then corresponding development system software and hardware system, the exploitation of software simultaneously needs just can carry out after hardware device and Driver Development thereof complete, like this, the integrated test system of every each mission payload all needs to carry out these steps, add the development time of test macro, secondly, add the development cost of system, owing to adopting software and hardware to design targetedly, versatility and the portability of the software and hardware in test macro are poor, add the development cost of system, again, add the complicacy of system, if need to test multiple mission payload simultaneously, with regard to needing, the test macro of each mission payload is carried out integrated, this just relates to the signal conversion between multiple test macro, the redesign of flow process, and the interface disunity between each test macro, so these all make the integrated test system of multitask load make troubles, finally, due to the visit information disunity of hardware device each in test macro, be unfavorable for the information fusion of test macro, cause needing design information integration program targetedly, increase the complexity of workload and system.
Summary of the invention
In order to overcome the ground integration test system that prior art needs exploitation corresponding for specific load, versatility and the portability of system hardware and software are poor, development time is long, development cost are high, the reusability difference shortcoming of system, the present invention proposes a kind of ground integration test system of multitask Spatial kinematics of general, the multi-level communication network framework based on RTLab system, Reflective memory network, CAN, TCP/IP, RS422.This system changes the development mode of " load one integrated system " of traditional ground integrated system, this system can on the basis not changing test macro general structure, only change corresponding test assignment load and can complete building and test the ground integration test system of corresponding task load, decrease expense and the development time of ground integrated system exploitation, improve versatility and the transplantability of software and hardware in system, for the integration testing of new mission payload offers convenience.
Basic ideas of the present invention: integration test system divides is become several essential part, inside and the data layout and the host-host protocol that all define standard each other of each several part, then corresponding host-host protocol, driving and a task object storehouse is defined for different mission payloads, ONLINE RECOGNITION, driving, resource distribution are carried out to different task load, the fast integration of load of finishing the work and test.When mission payload adds in test macro, first the essential information of mission payload is obtained, then according to these information, task is obtained to host-host protocol and the driving of mission payload, realize the ONLINE RECOGNITION of mission payload and the driving of function, and distribute corresponding system resource; And then match well with the mission payload information in task object storehouse, obtain the test model of load, and carry out the configuration of resource, and then integration testing is carried out to mission payload, reduce the use of manpower requirement and task equipment, in raising system, software and hardware reuses rate, for integrated test system reduces development cost and time.
The technical solution adopted for the present invention to solve the technical problems is: comprise Spatial kinematics system, ground integrated test system, load semi-physical system and interface control module.Wherein Spatial kinematics comprises: autonomous operation management subsystem, Spatial kinematics GNC subsystem, power supply are for match system, propulsion system, dynamical system, heat control system and communication system.Ground integrated test system comprises: mission planning and load management computing machine, system performance supervisory control comuter, equipment control computing machine, vision simulation computing machine, main control computer, load simulated analogue system.Load semi-physical system comprises: disengagement mechanism control, integrated electronics computing machine, dynamics simulation target machine, data retransmission, display and storage computing machine, dynamics simulation host.
Interface control module identification also obtains mission payload essential information, and it is sent to equipment control computing machine by serial ports, these information, according to host-host protocol, the data format information of these essential information determination mission payloads, are transferred to main control computer by Reflective memory network by equipment control computing machine simultaneously; The information of the mission payload that main control computer transmits according to equipment control computing machine, for it distributes corresponding system resource, and in its Drivers Library, search corresponding driver, complete the driving to mission payload, in its load task object library, search test assignment model corresponding to load simultaneously; Then main control computer sends load type by TCP/IP to Spatial kinematics, and task model is transferred to autonomous operation management subsystem, realizes the autonomous classification to mission payload, integrated, Operation and management.Finally send the host-host protocol of correspondence, data layout, task model to mission payload by interface control module by autonomous operation management system, realize the startup of mission payload, thus realize Online integration and the test of mission payload.
Main control computer is according to integrated mission payload, by Reflective memory network to equipment control computing machine, vision simulation computing machine, system performance supervisory control comuter sends load operation information, these systems carry out initialization according to load operation information, equipment control computing machine calls corresponding communication protocol and data layout to CAN, TCP/IP, the order that reflective memory is online, data are monitored, vision simulation computing machine is according to load information, receive spacecraft information and load simulated information in orbit, and carry out visual display, the confession distribution situation of system performance computer supervisory control system and interface communication situation.
Spatial kinematics is according to the task model of integrated mission payload type and loading, Simulated Spacecraft in orbit with load operating state, and by CAN, these data, order are sent to load simulated analogue system and load semi-physical system by autonomous operation management subsystem, realize the test to mission payload.Simultaneously, Spatial kinematics by above-mentioned data, order and be transferred to ground integrated test system by TCP/IP, mission planning and load management computing machine are monitored dynamics target machine in real time according to these data, and by these data, order bookbinding, main control computer utilizes Reflective memory network to send to what comes into a driver's computing machine, the real-time display of the state in orbit of the track in orbit of implementation platform and attitudes vibration and load.
Spatial kinematics system is by TCP/IP integrated test system transmission halt instruction earthward, after ground integrated test system receives halt instruction, first main control computer stops receiving data and order from TCP/IP, sends test assignment END instruction by Reflective memory network to vision simulation computing machine, equipment control computing machine, mission planning and load management computing machine simultaneously; After vision simulation computing machine receives END instruction, stop receiving data from Reflective memory network, and stop display, after equipment control computing machine receives halt instruction, stop the data to CAN, order monitoring, after mission planning and load management computing machine receive END instruction, stop the real-time monitoring of the data to dynamics target machine, order.Last autonomous operation management subsystem stops the operation of Spatial kinematics, powered-down supplies match system, terminates the test to mission payload.
The present invention also provides the method for testing of the ground integrated test set of described spatial multiplexing load, comprises the following steps:
Step (1), power interface and the test of confession distribution
Spatial kinematics power supply-distribution system provides the power interface of a road 28 ± 1V for mission payload, first Spatial kinematics power supply-distribution system powers on to mission payload, normally whether whether detection coherent signal voltage or electric current, correct with the electric interfaces detecting whole system.
Step (2), the ONLINE RECOGNITION of mission payload and driving.
First, when mission payload is connected in test macro, by being connected into of interface control module identification load, and get the essential information of mission payload, as device id number, device type, equipment interface information.Secondly the essential information of interface control module to mission payload is resolved, according to standard format again binding and layout, the information format of formation standard, be transferred to equipment control computing machine, by the information of equipment control computing machine according to standard, corresponding mission payload is searched in its facility information storehouse, complete the identification to mission payload function, obtain the host-host protocol of mission payload, data layout, data type information, and the information of mission payload is transferred to main control computer by Reflective memory network, main control computer is according to mission payload type and content measurement, in conjunction with the host-host protocol obtained, data layout, interface shape information sets up mission payload object module, be stored in task object storehouse.Again, main control computer is according to the mission payload information received, for mission payload distributes corresponding system resource, as data space, task run cycle, and the driver searching correspondence in its Drivers Library completes the driving to mission payload, in task object library, search the test assignment of mission payload simultaneously, and this test assignment is sent to Spatial kinematics.Finally send the host-host protocol of correspondence, data layout, task model to mission payload by interface control module by autonomous operation management system, realize the startup of mission payload, thus realize Online integration and the test of mission payload.
Step (3), CAN test transmission between Spatial kinematics and separation control, load simulated simulation computer.
Between this part main test space motor platform and disengagement mechanism control, load simulated simulation computer (carrying out the board design of disengagement mechanism control in load simulated simulation computer), CAN is transmitted, with detect PORT COM communications protocol between three whether correct, can normal communication.Ensure that both can normally work in the integration testing process of system ground.Manage subsystem by Spatial kinematics autonomous operation and send self-checking command, firing order, dormancy instruction to disengagement mechanism control, load simulated simulation computer, Integrated Electronic System returns self-inspection information, transmitting response, dormancy response to separation control, load simulated simulation computer simultaneously.When Spatial kinematics autonomous operation management subsystem sends instruction to separation control, when separation control, load simulated simulation computer all can correctly be replied, multiplexed transport is normal.
Spatial kinematics sends signal: self-checking command, firing order, dormancy instruction;
Separation control feedback signal: self-inspection information, emission results are fed back.
Instruction list is as follows:
Step (4), RS422 test transmission between separation control and Integrated Electronic System
This part mainly tests the transmission of RS422 between separation control and Integrated Electronic System, with detect PORT COM communication protocol between the two whether correct, can normal communication.Ensure can normally work in the integration testing process of system ground.Send self-checking command, firing order by separation control to Integrated Electronic System, Integrated Electronic System returns self-inspection information to separation control, launches response simultaneously.When separation control to Integrated Electronic System send instruction, Integrated Electronic System all can correctly respond time, multiplexed transport is normal.
Step (5), CAN test transmission between Spatial kinematics and mission payload dynamics simulation computer.
The correctness that between the main test space platform of this part and mission payload dynamics simulation computer, CAN is transmitted.After Spatial kinematics autonomous operation management subsystem sends order to dynamics simulation computer, dynamics simulation computer is started working, and namely thinks that transmission is normal.Instruction list is as follows:
Above five steps complete to mission payload the test of semi-physical system, below carry out the test of ground integration test system.
Step (6), main control computer sends mission payload type by TCP/IP to Spatial kinematics, and the task model that transmission is corresponding.
The information of the mission payload that main control computer transmits according to equipment control computing machine, for it distributes corresponding system resource, and in its Drivers Library, search corresponding driver, complete the driving to mission payload, in its load task object library, search test assignment model corresponding to load simultaneously; Then main control computer sends load type by TCP/IP to Spatial kinematics, and task model is transferred to autonomous operation management subsystem, realizes the autonomous classification to load task, integrated, Operation and management.Finally send the host-host protocol of correspondence, data layout, task model to mission payload by interface control module by autonomous operation management system, realize the startup of mission payload, thus realize Online integration and the test of mission payload.
Step (7), main control computer sends load operation information by Reflective memory network to equipment control machine, vision simulation computing machine, system performance supervisory control comuter.
Main control computer, according to integrated mission payload, sends load operation information by Reflective memory network to equipment control machine, vision simulation computing machine, system performance supervisory control comuter, is convenient to these systems and carries out initialization according to load information.Equipment control machine calls corresponding communication protocol and data layout is monitored the order on CAN, TCP/IP, data; Vision simulation computing machine, according to load information, receives spacecraft information and load model information in-orbit, and carries out visual display, be convenient to scientific research personnel and analyze; System performance monitoring calculation machine monitoring is system-wide for distribution situation and interface communication situation, go forward side by side style of writing word or figure display.
Step (8), Spatial kinematics produces data, order, and is transferred to the disengagement mechanism control of load simulated analogue system and load semi-physical system by CAN.
This part is primarily of the task model of Spatial kinematics according to integrated mission payload type and loading, Simulated Spacecraft is information and load information in orbit, and by CAN, these data, order are sent to load simulated analogue system and load semi-physical system by autonomous operation management subsystem, complete the test to mission payload.
Step (9), Spatial kinematics by above-mentioned data, order and be transferred to ground integrated test system by TCP/IP.
Spatial kinematics by the data of generation, order and be transferred to ground integrated test system by TCP/IP, mission planning and load management computing machine carry out real-time monitoring according to these data to dynamics target machine; Main control computer, by these data, order bookbinding, utilizes Reflective memory network to send to vision simulation computing machine, the state in orbit of the track in orbit of implementation platform and attitudes vibration and load.
Step (10), equipment control computing machine and system performance supervisory control comuter are monitored system-wide CAN information, tcp/ip message, Reflective memory network information in real time, are supplied distribution situation.
CAN, TCP/IP, the order of transmitting internal memory transfers on network, data in the supervisory system that equipment control computing machine is real-time, the data of the appearance rail information of parsing current platform, the duty of load, mode of operation, platform and load and command interaction flow process.Confession distribution situation in system performance supervisory control comuter real-time monitoring system and each communication interface state.
Step (11), Spatial kinematics system to be sent to load semi-physical system and load simulated analogue system by CAN and tests halt instruction.
The autonomous operation management subsystem of Spatial kinematics system to send to load semi-physical system and load simulated analogue system according to current task state tests halt instruction, after load semi-physical system receives halt instruction, first dynamics simulation target machine, dynamics simulation host, data retransmission, display and storage computing machine is stopped, then close 28V power supply, terminate the operation of load; After load simulated analogue system receives halt instruction, stop similar simulation run program, the generation of reception data, order and transmission.
Step (12), Spatial kinematics system sends halt instruction by TCP/IP to ground integrated test system.
After ground integrated test system receives halt instruction, first main control computer stops accepting data and order from TCP/IP; Main control computer sends test assignment END instruction by Reflective memory network to vision simulation computing machine, equipment control computing machine, mission planning and load management computing machine; After vision simulation computing machine receives END instruction, stop receiving data from Reflective memory network, and stop visual display; After equipment control computing machine receives END instruction, stop the monitoring of the data to CAN, order; After mission planning and load management computing machine receive END instruction, stop the real-time monitoring of the data to dynamics target machine, order.
Step (13), autonomous operation management subsystem stops the operation of Spatial kinematics, powered-down supplies match system.
Step (14), the ground integration testing of new task load.
For exploitation and the test of the ground integrated test system of new mission payload, can repeat previous step (1) to step (13), what the inside for mission payload benefit physical simulation system had been tested can repeat step (6) to step (13).
The invention has the beneficial effects as follows: owing to have employed a kind of system of general, multi-level communication network framework, integrated test system is divided into three parts: Spatial kinematics system, ground integrated test system and load semi-physical system simultaneously, makes the present invention have following advantage:
1. this test system framework changes the development mode of " load one integrated system " of traditional ground integrated system, can on the basis not changing test macro general structure, only change the exploitation that test assignment load can complete the ground integration test system to respective loads, decrease development cost and the development time of ground integrated system.
2. connected by STD bus between each parts, provide the connecting interface of standard, and define general data layout and host-host protocol, realize the data between each several part, command interaction, be convenient to the fast construction of system; Meanwhile, each partial interior has the connecting interface of a standard, can realize the versatility of software and hardware in system like this with portable.
3. owing to have employed task object storehouse in the integrated test system of ground, corresponding task model is both defined for different task load, this task model is according to mission payload type, the data of simultaneously each several part definition in coupling system and command format, host-host protocol and interface shape and design foundation, do not need access mode and the interface of considering equipment in integrated test system, hardware and software development can carry out simultaneously, shortens the software development time of integrated test system like this.When mission payload is integrated into system, only according to the type of mission payload, need can call corresponding task model and testing software from task object storehouse, complete and the fast integration of load is tested,
Accompanying drawing explanation
Fig. 1 is the integration test system hardware structure figure of multitask load
Fig. 2 is the annexation figure of mission payload integration test system
Fig. 3 is that system is for distribution test philosophy figure
Fig. 4 is CAN test transmission schematic diagram between Spatial kinematics and disengagement mechanism control, load simulated simulation computer
Fig. 5 is CAN test transmission schematic diagram between separation control and Integrated Electronic System
Fig. 6 is CAN test transmission schematic diagram between Spatial kinematics and dynamics simulation computer
Fig. 7 is mission payload digital to analog simulation test principle figure
Fig. 8 is mission payload closed loop semi physical integration test schematic diagram
Embodiment
Below in conjunction with drawings and Examples, the present invention is further described.
Device embodiment: with reference to Fig. 1,2, integration test device of the present invention comprises Spatial kinematics system, ground integrated test system, load semi-physical system, CAN, ethernet network, transmitting memory network, RS422.Spatial kinematics completes primarily of RTLab analogue system, and its inner each subsystem carries out connection by ICP/IP protocol and data are transmitted; Spatial kinematics system and ground integrated test system are undertaken being connected by TCP/IP and data are transmitted, and completes the loading of load task model, the transmission of platform operation information, the real-time monitoring of steering order; Ground integrated test system inner each subsystem is the transmission being realized data, order by Reflective memory network; Spatial kinematics system is connected with load semi-physical system with CAN by TCP/IP, realizes the transmission of data, order; Ground integrated test system is same with load semi-physical system is the transmission being realized data, order by TCP/IP and CAN; The transmission being realized data by RS422 and CAN between the inner each subsystem of load semi-physical system; In addition, load simulated analogue system and realize the transmission of steering order, appearance rail data between Spatial kinematics and ground integrated test system respectively by CAN and Reflective memory network, so just completes the exploitation to the integrated test system to particular task load.According to the different requirements of mission payload to test macro, system can be expanded, as the switching of the expansion in task object storehouse, the replacing of load task model, the mode of operation of load, thus meet the test request to mission payload.According to test request, interface control module is known and is obtained mission payload essential information, by its by Serial Port Transmission to equipment control computing machine, equipment control computing machine is according to the host-host protocol of essential information determination mission payload, data format information, then it is transferred to main control computer by Reflective memory network, main control computer carries out Resourse Distribute according to these information to mission payload, driver loads, task model load operation, main control computer sends load type by TCP/IP to Spatial kinematics afterwards, and task model is transferred to autonomous operation management subsystem, thus the autonomous classification realized mission payload, integrated with management.According to test request, main control computer is according to integrated mission payload, by Reflective memory network to equipment control computing machine, vision simulation computing machine, system performance supervisory control comuter sends load operation information, these systems carry out initialization according to load operation information, equipment control computer monitoring CAN, TCP/IP, the order that reflective memory is online, data, vision simulation computing machine is according to load information, spacecraft information and load simulated information is in orbit received from main control computer by Reflective memory network, carry out visual display, for distribution situation and interface communication situation in system performance computer supervisory control system.According to test request, Spatial kinematics by all kinds of spacecraft in orbit information be transferred to ground integrated test system by TCP/IP, mission planning and load management computing machine are monitored dynamics target machine in real time according to these data, and main control computer utilizes Reflective memory network to send to what comes into a driver's computing machine.After having tested, Spatial kinematics system is first by TCP/IP integrated test system transmission halt instruction earthward, after ground integrated test system receives instruction, first main control computer stops receiving data from TCP/IP, sends test assignment END instruction by Reflective memory network to what comes into a driver's computing machine, equipment control computing machine, mission planning and load management computing machine simultaneously.Last autonomous operation management subsystem stops the operation of Spatial kinematics, powered-down supplies match system, the test of the load that ends task.As another load need be tested, only new mission payload need be replaced original load, then just can test new task load through operation above.
Embodiment of the method: method of the present invention comprises the following steps:
Device forms and builds:
Integration test device of the present invention is made up of Spatial kinematics system, ground integrated test system, load semi-physical system, CAN, ethernet network, transmitting memory network, RS422.Wherein, in the integrated test system of ground, it is online that each several part is all connected to reflective memory, carries out data interaction; Equipment control computing machine is connected with interface control module by serial ports, obtain load essential information, main control computer is connected with Spatial kinematics system by TCP/IP, obtain spacecraft information in orbit, mission planning is also connected with Spatial kinematics system by TCP/IP with load management computing machine, obtain data and instruction mutual between motor platform and mission payload, system performance supervisory control comuter is connected with CAN watch-dog by serial ports, for distribution and interface communication information in supervisory system.In Spatial kinematics system, each several part is all connected by TCP/IP, realizes data interaction, and is connected with interface control module and CAN watch-dog by CAN, obtains operation information and the operational order of mission payload.Load semi-physical system is connected by CAN, and data, instruction are transferred to Spatial kinematics system by CAN.
Testing procedure:
The test of first step power interface and power supply-distribution system: mainly complete the test of power supply for match system, Integrated Electronic System, disengagement mechanism control, mission planning and load management computing power.
Second step, the ONLINE RECOGNITION of mission payload and driving: the ONLINE RECOGNITION of load of mainly finishing the work and driving, to the acquisition of the information of the interface of mission payload, host-host protocol, data layout, load type, the fast integration of load of finishing the work and the download online of test assignment and startup.
CAN test transmission between the 3rd step Spatial kinematics and separation control, load simulated simulation computer: mainly complete mission payload semi-physical system and Spatial kinematics and the communication test between mission planning and supervisory computer, comprise self-checking command, firing order, dormancy instruction.
The test transmission of RS422 between the 4th step separation control and Integrated Electronic System: the test transmission between the separation control of the semi-physical system inside of load of mainly finishing the work and Integrated Electronic System, determine the normal of analogue system, can integration testing be carried out.
CAN test transmission between the 5th step Spatial kinematics and mission payload dynamics simulation computer: the main correctness that between test space platform and mission payload dynamics simulation computer, CAN is transmitted.After Spatial kinematics autonomous operation management subsystem sends order to dynamics simulation computer, dynamics simulation computer is started working, and namely thinks that transmission is normal.
Then the integrated test system of mission payload is tested, completes the testing authentication to mission payload ground integrated test system, comprising:
6th step main control computer sends mission payload type by TCP/IP to Spatial kinematics, and from task object storehouse, selects corresponding task model according to mission payload, sends to autonomous operation to manage subsystem, realizes the loading of task model.
7th step main control computer sends load information by Reflective memory network to equipment control computing machine, vision simulation computing machine, system performance supervisory control comuter, realizes these subsystems and carries out corresponding initialization, the configuration of model, the distribution of resource according to load information.
8th step Spatial kinematics system, according to the task model of mission payload type and loading, is produced data, order, and is transferred to the separation control of load simulated analogue system and load semi-physical system by CAN.Realize the test to mission payload.
9th step Spatial kinematics by above-mentioned data, order and be transferred to the main control computer of ground integrated test system and mission planning and supervisory computer by TCP/IP, the bookbinding of complete paired data, order, the monitoring of dynamics target machine, and by the data of bookbinding, order and be transferred to vision simulation computing machine by Reflective memory network and carry out platform track in orbit and the display of attitude.
Tenth step equipment control computing machine and system performance supervisory control comuter are according to the CAN information in mission payload and task model real-time monitoring system, tcp/ip message, Reflective memory network information, confession distribution situation and each communication interface state.
11 step Spatial kinematics system to be sent to load semi-physical system and load simulated analogue system by CAN and tests halt instruction, after load semi-physical system receives instruction, stop the forwarding of dynamics simulation, data, display and store, then close 28V power supply, terminate the operation of load.
12 step Spatial kinematics sends halt instruction by TCP/IP to ground integrated test system, first main control computer stops the bookbinding and the transmission that receive data and data from TCP/IP, sends test assignment END instruction by Reflective memory network to what comes into a driver's computing machine, equipment control computing machine, mission planning and load management computing machine simultaneously; After each subsystem receives END instruction, stop the parsing of the transmission of respective data, display and storage, monitoring to bus, data, order.
13 step autonomous operation management subsystem, according to the state of ground integrated test system and load semi-physical system, stops the operation of Spatial kinematics, managing electrical power confession match system, the exploitation of the ground integrated test system of load of finishing the work and test.
The ground integration testing of the 14 step new task load, for exploitation and the test of the ground integrated test system of new mission payload, can repeat above that the first step is to the 13 step, that mends that the inside of physical simulation system tested for mission payload can repeat step the six step to step the 13 step.
Claims (2)
1. the ground integration test device of a spatial multiplexing load system, comprise Spatial kinematics system, ground integrated test system, load semi-physical system and interface control module, it is characterized in that: wherein Spatial kinematics comprises autonomous operation management subsystem, Spatial kinematics GNC subsystem, power supply for match system, propulsion system, dynamical system, heat control system and communication system; Ground integrated test system comprises mission planning and load management computing machine, system performance supervisory control comuter, equipment control computing machine, vision simulation computing machine, main control computer, load simulated analogue system; Load semi-physical system comprises disengagement mechanism control, integrated electronics computing machine, dynamics simulation target machine, data retransmission, display and storage computing machine, dynamics simulation host;
Interface control module identification also obtains mission payload essential information, and it is sent to equipment control computing machine by serial ports, these information, according to host-host protocol, the data format information of these essential information determination mission payloads, are transferred to main control computer by Reflective memory network by equipment control computing machine simultaneously; The information of the mission payload that main control computer transmits according to equipment control computing machine, for it distributes corresponding system resource, and in its Drivers Library, search corresponding driver, complete the driving to mission payload, in its load task object library, search test assignment model corresponding to load simultaneously; Then main control computer sends load type by TCP/IP to Spatial kinematics, and task model is transferred to autonomous operation management subsystem, realizes the autonomous classification to mission payload, integrated, Operation and management; Finally send the host-host protocol of correspondence, data layout, task model to mission payload by interface control module by autonomous operation management system, realize the startup of mission payload, thus realize Online integration and the test of mission payload;
Main control computer is according to integrated mission payload, by Reflective memory network to equipment control computing machine, vision simulation computing machine, system performance supervisory control comuter sends load operation information, these systems carry out initialization according to load operation information, equipment control computing machine calls corresponding communication protocol and data layout to CAN, TCP/IP, the order that reflective memory is online, data are monitored, vision simulation computing machine is according to load information, receive spacecraft information and load simulated information in orbit, and carry out visual display, the confession distribution situation of system performance computer supervisory control system and interface communication situation,
Spatial kinematics is according to the task model of integrated mission payload type and loading, Simulated Spacecraft in orbit with load operating state, and by CAN, these data, order are sent to load simulated analogue system and load semi-physical system by autonomous operation management subsystem, realize the test to mission payload; Simultaneously, Spatial kinematics by above-mentioned data, order and be transferred to ground integrated test system by TCP/IP, mission planning and load management computing machine are monitored dynamics target machine in real time according to these data, and by these data, order bookbinding, main control computer utilizes Reflective memory network to send to what comes into a driver's computing machine, the real-time display of the state in orbit of the track in orbit of implementation platform and attitudes vibration and load;
Spatial kinematics system is by TCP/IP integrated test system transmission halt instruction earthward, after ground integrated test system receives halt instruction, first main control computer stops receiving data and order from TCP/IP, sends test assignment END instruction by Reflective memory network to vision simulation computing machine, equipment control computing machine, mission planning and load management computing machine simultaneously; After vision simulation computing machine receives END instruction, stop receiving data from Reflective memory network, and stop display, after equipment control computing machine receives halt instruction, stop the data to CAN, order monitoring, after mission planning and load management computing machine receive END instruction, stop the real-time monitoring of the data to dynamics target machine, order.Last autonomous operation management subsystem stops the operation of Spatial kinematics, powered-down supplies match system, terminates the test to mission payload.
2. utilize a method for the ground integration test of the spatial multiplexing load system of device described in claim 1, it is characterized in that comprising the steps:
Step (1), Spatial kinematics power supply-distribution system provides the power interface of a road 28 ± 1V for mission payload, first Spatial kinematics power supply-distribution system powers on to mission payload, normally whether whether detection coherent signal voltage or electric current, correct with the electric interfaces detecting whole system;
Step (2), first, when mission payload is connected in test macro, by being connected into of interface control module identification load, and gets the essential information of mission payload, comprises device id number, device type, equipment interface information, secondly the essential information of interface control module to mission payload is resolved, according to standard format again binding and layout, the information format of formation standard, be transferred to equipment control computing machine, by the information of equipment control computing machine according to standard, corresponding mission payload is searched in its facility information storehouse, complete the identification to mission payload function, obtain the host-host protocol of mission payload, data layout, data type information, and the information of mission payload is transferred to main control computer by Reflective memory network, main control computer is according to mission payload type and content measurement, in conjunction with the host-host protocol obtained, data layout, interface shape information sets up mission payload object module, be stored in task object storehouse, again, main control computer is according to the mission payload information received, for mission payload distributes corresponding system resource, as data space, task run cycle, and the driver searching correspondence in its Drivers Library completes the driving to mission payload, in task object library, search the test assignment of mission payload simultaneously, and this test assignment is sent to Spatial kinematics, finally send the host-host protocol of correspondence, data layout, task model to mission payload by interface control module by autonomous operation management system, realize the startup of mission payload, thus realize Online integration and the test of mission payload,
Step (3), between test space motor platform and disengagement mechanism control, load simulated simulation computer, CAN is transmitted, with detect PORT COM communications protocol between three whether correct, can normal communication; Manage subsystem by Spatial kinematics autonomous operation and send self-checking command, firing order, dormancy instruction to disengagement mechanism control, load simulated simulation computer, Integrated Electronic System returns self-inspection information, transmitting response, dormancy response to separation control, load simulated simulation computer simultaneously; When Spatial kinematics autonomous operation management subsystem sends instruction to separation control, when separation control, load simulated simulation computer all can correctly be replied, multiplexed transport is normal;
Step (4), the transmission of RS422 between test separation control and Integrated Electronic System, with detect PORT COM communication protocol between the two whether correct, can normal communication; Send self-checking command, firing order by separation control to Integrated Electronic System, Integrated Electronic System returns self-inspection information to separation control, launches response simultaneously; When separation control to Integrated Electronic System send instruction, Integrated Electronic System all can correctly respond time, multiplexed transport is normal;
Step (5), the correctness that between test space platform and mission payload dynamics simulation computer, CAN is transmitted; After Spatial kinematics autonomous operation management subsystem sends order to dynamics simulation computer, dynamics simulation computer is started working, and namely thinks that transmission is normal;
Step (6), the information of the mission payload that main control computer transmits according to equipment control computing machine, for it distributes corresponding system resource, and in its Drivers Library, search corresponding driver, complete the driving to mission payload, in its load task object library, search test assignment model corresponding to load simultaneously; Then main control computer sends load type by TCP/IP to Spatial kinematics, and task model is transferred to autonomous operation management subsystem, realizes the autonomous classification to load task, integrated, Operation and management; Finally send the host-host protocol of correspondence, data layout, task model to mission payload by interface control module by autonomous operation management system, realize the startup of mission payload, thus realize Online integration and the test of mission payload;
Step (7), main control computer, according to integrated mission payload, sends load operation information by Reflective memory network to equipment control machine, vision simulation computing machine, system performance supervisory control comuter; Equipment control machine calls corresponding communication protocol and data layout is monitored the order on CAN, TCP/IP, data; Vision simulation computing machine, according to load information, receives spacecraft information and load model information in-orbit, and carries out visual display; System performance monitoring calculation machine monitoring is system-wide for distribution situation and interface communication situation, go forward side by side style of writing word or figure display;
Step (8), Spatial kinematics is according to the task model of integrated mission payload type and loading, Simulated Spacecraft is information and load information in orbit, and by CAN, these data, order are sent to load simulated analogue system and load semi-physical system by autonomous operation management subsystem, complete the test to mission payload;
Step (9), Spatial kinematics by the data of generation, order and be transferred to ground integrated test system by TCP/IP, mission planning and load management computing machine carry out real-time monitoring according to these data to dynamics target machine; Main control computer, by these data, order bookbinding, utilizes Reflective memory network to send to vision simulation computing machine, the state in orbit of the track in orbit of implementation platform and attitudes vibration and load;
Step (10), CAN, TCP/IP, the order of transmitting internal memory transfers on network, data in the supervisory system that equipment control computing machine is real-time, the data of the appearance rail information of parsing current platform, the duty of load, mode of operation, platform and load and command interaction flow process.Confession distribution situation in system performance supervisory control comuter real-time monitoring system and each communication interface state;
Step (11), the autonomous operation management subsystem of Spatial kinematics system to send to load semi-physical system and load simulated analogue system according to current task state tests halt instruction, after load semi-physical system receives halt instruction, first dynamics simulation target machine, dynamics simulation host, data retransmission, display and storage computing machine is stopped, then close 28V power supply, terminate the operation of load; After load simulated analogue system receives halt instruction, stop similar simulation run program, the generation of reception data, order and transmission;
Step (12), after ground integrated test system receives halt instruction, first main control computer stops accepting data and order from TCP/IP; Main control computer sends test assignment END instruction by Reflective memory network to vision simulation computing machine, equipment control computing machine, mission planning and load management computing machine; After vision simulation computing machine receives END instruction, stop receiving data from Reflective memory network, and stop visual display; After equipment control computing machine receives END instruction, stop the monitoring of the data to CAN, order; After mission planning and load management computing machine receive END instruction, stop the real-time monitoring of the data to dynamics target machine, order;
Step (13), autonomous operation management subsystem stops the operation of Spatial kinematics, powered-down supplies match system;
Step (14), for exploitation and the test of the ground integrated test system of new mission payload, repeat previous step (1) to step (13), inside for mission payload benefit physical simulation system has been tested, and repeats step (6) to step (13).
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105519266B true CN105519266B (en) | 2015-05-20 |
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