CN105676671A - Semi-physical simulation test system for sun-oriented control - Google Patents
Semi-physical simulation test system for sun-oriented control Download PDFInfo
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- CN105676671A CN105676671A CN201410676533.1A CN201410676533A CN105676671A CN 105676671 A CN105676671 A CN 105676671A CN 201410676533 A CN201410676533 A CN 201410676533A CN 105676671 A CN105676671 A CN 105676671A
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Abstract
A semi-physical simulation test system for sun-oriented control comprises a satellite-borne computer system, a gyro, an infrared horizon instrument, a star sensor, a three-axis magnetometer, an actuator and a target simulator. The target simulator simulates the space environment. A motion simulator simulates the attitude motion of an aircraft. The satellite-borne computer system performs attitude and control quantity calculation according to measurement data acquired by single measurement machines, and outputs the attitude and control quantity to the actuator. The semi-physical simulation test system further comprises a sun sensor equivalent device, a dynamic geomagnetic field simulator, a target simulator, a motion simulator, a PXI acquisition control computer, a dynamics simulator, a data distribution unit, a telemetry, remote control and remote injection machine, a database, a display terminal, a CAN bus network and an optical fiber reflective memory network. The problem that ground simulation verification of sun-oriented control cannot be carried out under abnormal attitude rolling of an aircraft in the prior art is solved. The semi-physical simulation test system has the beneficial effect that the test authenticity and effectiveness are improved.
Description
Technical field
The invention belongs to the test of aircraft Attitude and orbit control system ground simulation and technical field of measurement and test, the semi-physical simulation test macro of specifically a kind of Direct to the sun control.
Background technology
Aircraft has been entered the orbit Stretching of solar wings and has been caught by the sun, and the long-term Direct to the sun control of aircraft solar array, is guarantee the aircraft basic assurance that required power supply and task realize in-orbit. Especially attitude of flight vehicle abnormal cause solar array can not normally in Direct to the sun situation, if for a long time cannot Direct to the sun, cause flight can not complete due to energy deficiency to make a reservation for task in-orbit, or even the termination in aircraft life-span. Therefore, usual aircraft Attitude and orbit control system can be all the attitude of flight vehicle corresponding emergency preplan of abnormal design, with solve aircraft solar array can not the situation of normal Direct to the sun, and the validity of emulation test fully to verify emergency preplan must be carried out on ground.
The ground simulation checking of current aircraft or the control of satellite Direct to the sun has three kinds of modes usually: mathematics emulation mode, semi-physical simulation mode and full physical simulation mode.
Mathematics emulation mode adopts full mathematical modeling, set up aircraft kinetics and kinematics model, measurement unit model, controller model, topworks's model and space environment model etc. respectively, realize the gesture stability of Attitude and orbit control system and the ground simulation checking of Direct to the sun control by non-hardware in the mode of ring.
Whole satellite gravity anomaly system (comprising sensor, controller and topworks etc.) as shown in Figure 1, in order to the performance of effective verifying satellites attitude control system, is accessed loop and tests by semi-physical simulation mode. Wherein attitude of flight vehicle kinetics adopts mathematical model simulation, attitude of flight vehicle motion adopts motion simulation device (three axle turntables) simulation, sensor (such as sun sensor, earth sensor, star sensor etc.) it is arranged on the platform being connected with motion simulation device (turntable) interior axle, turntable motion makes sensor obtain corresponding output, and characteristic according to sensor is equipped with corresponding target simulation device (solar simulator simultaneously, earth simulator for earth, star simulator).In Direct to the sun control imitation is verified, by solar simulator simulated solar spectrum and solar irradiation, and by the relative relation between running gear simulated flight device and solar vector. Owing to by the restriction of running gear, the incident solar vector of any direction cannot be simulated, the ground simulation checking of aircraft Direct to the sun control under any attitude therefore also cannot be realized.
Full physical simulation mode is on the basis of semi-physical simulation, attitude of flight vehicle kinetics adopts three-axis air-bearing table to carry out physical simulation, and controller, topworks and part are measured the full physical simulation test that sensor (such as gyro, horizon instrument, sun sensor etc.) is also placed on three-axis air-bearing table to carry out hardware in loop. The validity that this kind of emulation mode is simulated and validity are best, but simulated environment is built complicated, and cost is expensive, it is necessary to the operator of specialty carry out operation of equipment, and the restriction by power supply and air feed on air supporting platform, simulating, verifying can not be carried out for a long time. Meanwhile, all need a large amount of preparation work before test every time, it is not easy to carrying out of test. Particularly by the restriction of air supporting platform motion scope and speed, the ground simulation checking of Direct to the sun control in the abnormal rolling situation of attitude of flight vehicle cannot be carried out.
Summary of the invention
In order to overcome above-mentioned shortcomings and deficiencies of the prior art, the sun initially entered the orbit to meet aircraft is caught and the emulation test of the aircraft Direct to the sun control again of the solar array under abnormal attitude arbitrarily, the present invention proposes the semi-physical simulation test macro of aircraft Direct to the sun control under a kind of any attitude.
The technical solution of the present invention is: the semi-physical simulation test macro of aircraft Direct to the sun control under a kind of any attitude, comprise sun sensor simulator, terrestrial magnetic field simulator, earth simulator for earth, star simulator, motion simulation device, PXI gathers control computer, kinetics replicating machine, file distributing unit, the distant note machine of remote measuring and controlling, database, display terminal, CAN cable net, fiber reflection memory network and TCP/IP network, it is characterized in that sun sensor simulator adopts under the voltage-controlled current source various attitude of simulated flight device sun sensor by the state of solar irradiation, dynamically magnetic simulation is adopted to generate aircraft magnetic field in-orbit, adopt the ground remote measurement of CAN real-time performance star, remote control and distant note information interaction, fiber reflection memory network is adopted to realize the distributed real-time simulink between each target simulation device of closed cycle simulation test system and uphole equipment and time lock.
The present invention has following feature and good result:
The present invention is only responsive to the solar irradiation of solar spectrum certain spectral in-orbit according to sun sensor, and the characteristic that sun sensor outward current is only relevant to incident flux, abandoning tradition adopts complicated lamp battle array optics solar simulator to simulate the mode of multispectral solar target, directly according to the relative relation of the incident vector of sun sensor photosensitive surface each under aircraft in-orbit state and the sun, and the field angle of sun sensor and photobehavior, the current characteristics of solar irradiation it is subject to in-orbit by voltage-controlled current source output simulation 0-1 formula sun sensor and analog sun sensor, namely sun sensor and the solar simulator simulated flight device relative angular relationship of solar array face normal vector solar vector under various attitude in-orbit is directly substituted with the too quick simulator of constant current source, realize the Direct to the sun control semi-physical simulation of Attitude and orbit control system, this is one of innovative point being different from existing Direct to the sun control semi-physical simulation test macro,
The aircraft orbit parameter in-orbit that the present invention generates according to kinetics replicating machine, magnetic field model-driven terrestrial magnetic field simulator accurately is utilized dynamically to generate aircraft terrestrial magnetic field target property in-orbit, utilize permalloy shielding case to shield the interference of this terrestrial magnetic field and external magnetic field simultaneously, the geomagnetic field intensity recorded by three-axis magnetometer carries out magnetic control sun-orientation and the magnetic unloading of aircraft, instead of using magnetic field table, this is the two of the innovative point being different from existing Direct to the sun control semi-physical simulation test macro;
The present invention adopts fiber reflection internal memory network and the interruption mechanism of shaking hands to carry out the real-time data communication between many mechanics replicating machine, PXI collection operating device, remote measuring and controlling distant note machine and multiple target simulation device (motion simulation device, terrestrial magnetic field simulator, star simulator, earth simulator for earth etc.) with synchronous, achieving multiple goal distributed synchronization real-time simulation, this is the three of the innovative point being different from existing Direct to the sun control semi-physical simulation test macro
After adopting foregoing invention, aircraft Direct to the sun control imitation test macro tool has the following advantages:
1) the semi-physical simulation checking of Direct to the sun control under any abnormal attitude can be realized, avoid the restriction due to solar simulator running gear, motion simulation device structure and place, space, what cause can not realize the simulating, verifying that the full attitude of the sun is caught under any abnormal attitude control to blocking of sun sensor incident illumination, also solve the exception shake of attitude of flight vehicle when total space solar simulator uneven illumination is even causes ground simulation, it is to increase the verity of Attitude and orbit control system ground simulation checking and validity simultaneously.
2) the too quick simulator of voltage controlled current source is adopted to replace sun sensor and solar simulator to carry out Attitude and orbit control system semi-physical simulation test, the fault simulation of sun sensor can be realized by the output state that kinetics changes too quick simulator, effectively reduce artificial damage or pollute the probability in sun sensor optical sensitive face and the cost of target simulation device construction, shorten the cycle that Attitude and orbit control system semi-physical simulation environment is built, also reduce the complexity of operation of equipment simultaneously.
3) aircraft terrestrial magnetic field environment in-orbit is dynamically generated by terrestrial magnetic field simulator, solve three-axis magnetometer can not be accessed in the past Attitude and orbit control system carry out attitude determine and attitude control ground semi-physical simulation checking problem, also solve the problem utilizing magnetic field table to carry out control precision of magnetic torquer difference simultaneously, carry out magnetic sun-orientation control for utilizing three-axis magnetometer and magnetic torquer (to comprise magnetic torquer and add the control of flying wheel sun-orientation, pure magnetic torquer sun-orientation controls, magnetic torquer adds gravity gradient sun-orientation control etc.) provide effective ground simulation checking means.
4) solved by fiber reflection internal memory network and the interruption mechanism of shaking hands that data between multiple simulator are asynchronous and conventional TCP/IP network blocks and the problem of transmission time delay, also solve the motion simulation device shake problem that the network information is blocked and transport delay causes simultaneously, improve the real-time of emulation test system, it is achieved that multiple goal distributed synchronization emulates.
Accompanying drawing explanation
By reading with reference to detailed description non-limiting example done that the following drawings is done, the other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is tradition Direct to the sun control semi-physical simulation test macro composition frame chart;
Fig. 2 is half physics closed cycle simulation test system chart of Direct to the sun of the present invention control;
Fig. 3 is sun sensor simulator composition frame chart;
Fig. 4 is dynamically magnetic simulation device composition frame chart.
Reference numeral same or similar in accompanying drawing represents same or similar parts.
Embodiment
Below in conjunction with accompanying drawing and embodiment, the present invention is described in further detail. It will be understood that following examples only scope for illustration of the present invention but not for limiting the present invention.
Under any attitude of invention, the schematic block diagram of semi-physical simulation test macro one embodiment of Direct to the sun control as shown in Figure 2, comprises sun sensor simulator, terrestrial magnetic field simulator, earth simulator for earth, star simulator, motion simulation device, PXI gathers control computer, kinetics replicating machine, file distributing unit, the distant note machine of remote measuring and controlling, database, display terminal, CAN cable net, fiber reflection memory network and TCP/IP network, and product (board computer system on star, gyro, infrared horizon instrument, star sensor, three-axis magnetometer, jet thruster controller, flying wheel, magnetic torquer etc.), dynamics simulation computer calculates and generates aircraft dynamics data and space environment data, is synchronously driven each target simulation device and motion simulation device by reflective memory network, and target simulation device space environmental simulation is (such as earth ir radiation, fixed star, terrestrial magnetic field, the sun), the attitude motion of motion simulation device simulated flight device, board computer system carries out resolving of attitude and manipulated variable according to the take off data that each measurement unit obtains, and export to corresponding topworks, PXI gathers execution amount and the variable quantity of control computer acquisition topworks, adopt and interrupt mechanism of shaking hands and by reflective memory network, the status information feedback of topworks is carried out the calculating of subsequent cycle to kinetics replicating machine, onboard computer, by the telemetry data of CAN network inquiry onboard computer, is carried out distant note remote control by the distant note machine of remote measuring and controlling simultaneously. experimental data is distributed to database by TCP/IP network by file distributing unit and display terminal carries out storage, the display of testing data and playback afterwards, thus forms a set of distributed attitude completed and determine and control half physics closed cycle simulation test system.
One of emphasis of the present invention is to propose and adopts the too quick simulator of voltage controlled current source to replace under sun sensor and the various attitude of solar simulator simulated flight device sun sensor by the state of solar irradiation, and then realizing the ground semi-physical simulation checking of Direct to the sun control, its embodiment is as shown in Figure 3.
First kinetics replicating machine calculates the solar vector under inertial system according to flight track parameterr i , then the solar vector under inertial system is transformed into aircraft body system of coordinates:
(1)
For 0-1 formula sun sensor, responsive face normal and aircraft body system of coordinates three direction of principal axis of each sensor are parallel
(2)
The outward current of 0-1 formula sun sensor is:
(3)
WhereinFor electric current gain factor;
For solar irradiation constant;
S is too sensor photosensitive area;
For angle of incidence of sunlight, it is in formula (1),,;
For the field angle of sun sensor;
For analog sun sensor, under first the solar vector under body series is transformed into simulated solar sensor surving coordinate system.
(4)
Solar incident angle is respectively:
(5)
4 blocks of cell piece a, b, c, d outward currents of analog sun sensor are respectively:
(6)
(7)
Wherein,For gain factor;
For solar irradiation constant;
S is total photosensitive area of too sensor a, b, c and d.
Secondly the electric current output model of above-mentioned sun sensor is converted to voltage output model,
Be transferred to the too quick simulator of voltage controlled current source finally by Reflective memory network, simulated flight device in-orbit under various attitude sun sensor by the state of solar irradiation. Adopt and according to the relation of the incident vector of attitude of flight vehicle and the sun by the irradiation state under voltage controlled current source simulation arbitrarily abnormal attitude, therefore can realize the closed cycle simulation test of Direct to the sun control under any attitude in this way. The too quick each output channel of simulator has good consistence simultaneously, also overcomes the impact that optics solar simulator irradiation is uneven.
The two of the emphasis of the present invention are to propose to adopt permalloy shielding case shielding external environmental interference magnetic field, terrestrial magnetic field simulator is driven dynamically to generate aircraft magnetic field in-orbit by the high precision IGRF terrestrial magnetic field model data of kinetics replicating machine, board computer system gathers magnetic field data that three-axis magnetometer measures and the take off data of attitude sensor carries out resolving of attitude and magnetic control instruction, and control magnetic torquer and carry out the control of aircraft Direct to the sun three-axis attitude, thus realize Direct to the sun control ground half physics closed-loop simulation, its embodiment as shown in Figure 4:
First shield external environmental interference magnetic field with permalloy shielding case, independently give three axle received currents of terrestrial magnetic field simulator, the three-dimensional magnetic field generated by high precision three-axis magnetometer measure analog device, mark terrestrial magnetic field simulator and generate magnetic fieldWith driving electric currentRelation:
(8)
Wherein C is the matrix of coefficients calibrated;
The correction amount calibrated.
Secondly kinetics replicating machine is according to the terrestrial magnetic field under IGRF terrestrial magnetic field model with dynamically generating east, north system of coordinates:
(9)
WhereinFor earth radius;
For aircraft the earth's core distance;
For east longitude;
For geographical colatitude;
,For Gauss's coefficient;
For the association Legendre polynomial expansion on n m rank.
Then the terrestrial magnetic field under ground, east, north system of coordinates is transformed into three-axis magnetometer surving coordinate system, and corresponding magnetic field strength date is sent to magnetic simulation device by Reflective memory network:
(10)
WhereinThe conversion matrix arriving inertial system for north is eastern;
For inertia is tied to the conversion matrix of aircraft body coordinate;
For aircraft body coordinate is tied to the conversion matrix of three-axis magnetometer surving coordinate system.
Conclusively magnetic simulation device control computer utilizes the driving electric current of terrestrial magnetic field simulator and the corresponding relation of three-axle magnetic field intensity that calibrate, and the kinetics replicating machine driving data control current source dynamic simulation according to receiving exports aircraft magneticstrength in-orbit. The take off data that board computer system gathers three-axis magnetometer in real time carries out Attitude Calculation and steering order output, control in conjunction with magnetic torquer, it is possible to add the ground simulation checking of the Direct to the sun control strategies such as the sun-orientation control of magnetic torquer, magnetic sun-orientation control for the flywheel of aircraft.
By by sun sensor and solar irradiation simulation technique, and dynamically magnetic simulation technology combines, too quick simulator and terrestrial magnetic field simulator access Attitude and orbit control system ground half physics closed-loop simulation, achieve the control ground simulation checking of the Direct to the sun under any attitude, and the ground simulation checking of various Direct to the sun control strategy, it is ensured that the validity of Attitude and orbit control system ground test and all standing.
Below by reference to the accompanying drawings the semi-physical simulation test macro of the control of aircraft Direct to the sun under a kind of any attitude of the present invention is described; but these explanations can not be understood to the scope limiting the present invention; protection scope of the present invention has the scope enclosed, and any change carried out on the claims in the present invention basis is all protection scope of the present invention.
Claims (6)
1. a semi-physical simulation test macro for Direct to the sun control, comprises board computer system, gyro, infrared horizon instrument, star sensor, three-axis magnetometer, topworks and target simulation device; Described target simulation device space environmental simulation, the attitude motion of described motion simulation device simulated flight device, described board computer system carries out resolving of attitude and manipulated variable according to the take off data that each measurement unit obtains, and export to described topworks, it is characterized in that: also comprise sun sensor simulator, dynamically magnetic simulation device, target simulation device, motion simulation device, PXI gathers control computer, kinetics replicating machine, file distributing unit, the distant note machine of remote measuring and controlling, database, display terminal, CAN network and fiber reflection memory network;
Under the described sun sensor simulator employing voltage-controlled current source various attitude of simulated flight device, sun sensor is by the state of solar irradiation, the simulation of described dynamically magnetic simulation device generates aircraft magnetic field in-orbit, described PXI gathers execution amount and the variable quantity of control computer acquisition topworks, adopt the calculating interrupting mechanism of shaking hands and by described fiber reflection internal memory network, the status information feedback of topworks is carried out subsequent cycle to described kinetics replicating machine, described remote measuring and controlling distant note machine is by the telemetry data of onboard computer described in described CAN network inquiry, described onboard computer is carried out distant note remote control simultaneously, experimental data is distributed to described database by described TCP/IP network by described file distributing unit and described display terminal carries out the storage of testing data, display and playback afterwards.
2. the semi-physical simulation test macro of Direct to the sun according to claim 1 control, it is characterised in that described sun sensor simulator is according to the outward current of the responsive face relation relative to solar vector of sun sensor and incident flux size simulated solar sensor.
3. the semi-physical simulation test macro of Direct to the sun according to claim 1 control, it is characterised in that described topworks comprises jet thruster controller, flying wheel and magnetic torquer.
4. the semi-physical simulation test macro of Direct to the sun according to claim 3 control, it is characterised in that dynamically magnetic simulation device dynamically provide described three-axis magnetometer with aircraft in-orbit magneticstrength information carry out attitude and determine to control with described magnetic torquer.
5. the semi-physical simulation test macro of Direct to the sun according to claim 1 control, it is characterised in that described target simulation device comprises earth simulator for earth and star simulator.
6. the semi-physical simulation test macro of Direct to the sun according to claim 1 control, it is characterised in that described dynamically magnetic simulation device adopts permalloy shielding case.
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| CN111459049A (en) * | 2020-03-13 | 2020-07-28 | 北京仿真中心 | Semi-physical simulation method and system |
| CN112212735A (en) * | 2020-09-27 | 2021-01-12 | 中国电子信息产业集团有限公司第六研究所 | Interactive semi-physical simulation test system |
| WO2024068255A1 (en) * | 2022-09-29 | 2024-04-04 | Iceye Oy | Control system for aircraft or spacecraft apparatus |
| CN115783321A (en) * | 2023-02-06 | 2023-03-14 | 湖南揽月机电科技有限公司 | Large-scale single-shaft air bearing table semi-physical simulation system and working method thereof |
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