CN105676671B - A kind of semi-physical simulation test system of Direct to the sun control - Google Patents
A kind of semi-physical simulation test system of Direct to the sun control Download PDFInfo
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- CN105676671B CN105676671B CN201410676533.1A CN201410676533A CN105676671B CN 105676671 B CN105676671 B CN 105676671B CN 201410676533 A CN201410676533 A CN 201410676533A CN 105676671 B CN105676671 B CN 105676671B
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Abstract
A kind of semi-physical simulation test system of Direct to the sun control, including board computer system, gyro, infrared horizon, star sensor, three axis magnetometer, executing agency and target simulator, the target simulator space environmental simulation, the attitude motion of the motion simulator simulated flight device, the board computer system carries out the resolving of posture and controlled quentity controlled variable according to the measurement data that each measurement unit obtains, and export to the executing agency, further include sun sensor simulator, dynamically magnetic simulation device, target simulator, motion simulator, PXI acquisition control computers, dynamics simulation machine, file distributing unit, the distant note machine of remote measuring and controlling, database, display terminal, CAN bus network and fiber reflection memory network.The ground simulation that the present invention solves the problems, such as in the prior art not controlling Direct to the sun in the case of attitude of flight vehicle extremely rolling verifies there is the beneficial effect for improving test authenticity and validity.
Description
Technical field
It is specifically a kind of right the invention belongs to aircraft Attitude and orbit control system ground simulation test and technical field of measurement and test
System is tested in the day semi-physical simulation of oriented control.
Background technology
Aircraft, which is entered the orbit, completes Stretching of solar wings and to sun acquisition, and the long-term Direct to the sun of aircraft solar array
Control, is to ensure that the in-orbit required energy supply of aircraft and the basic assurance that task is realized.It is especially abnormal in attitude of flight vehicle
Cause solar array cannot normally in the case of Direct to the sun, if for a long time can not Direct to the sun, cause flight due to the energy not
Termination sufficient and that predetermined in-orbit task, even aircraft service life cannot be completed.Therefore, usual aircraft Attitude and orbit control system all can
Design corresponding emergency preplan extremely for attitude of flight vehicle, with solve aircraft solar array cannot normal Direct to the sun feelings
Condition, and sufficient emulation testing must be carried out on ground to verify the validity of emergency preplan.
The ground simulation verification of aircraft or the control of satellite Direct to the sun at present usually has three kinds of modes：Mathematical simulation side
Formula, semi-physical simulation mode and full physical simulation mode.
Mathematical simulation mode is to use full mathematical modeling, establishes vehicle dynamics and kinematics model, measurement list respectively
Machine model, controller model, executing agency's model and space environment model etc., appearance is realized by way of non-hardware is in ring
The ground simulation verification of gesture stability and the Direct to the sun control of rail control system.
Semi-physical simulation mode is as shown in Figure 1, for the performance of effective verifying satellites attitude control system, by whole satellite
Tested in attitude control system (including sensor, controller and executing agency etc.) access circuit.Wherein attitude of flight vehicle moves
Mechanics is simulated using mathematical model, and attitude of flight vehicle movement uses motion simulator（Three-axle table）Simulation, sensor (such as too
Positive sensor, earth sensor, star sensor etc.) it is installed on the platform being connected with motion simulator (turntable) interior axle, turntable
Movement makes sensor obtain corresponding output, while is equipped with corresponding target simulator (solar simulation according to the characteristic of sensor
Device, earth simulator for earth, star simulator).In Direct to the sun controls simulating, verifying, by solar simulator simulated solar spectrum and
Solar irradiation, and pass through the relativeness between motion simulated flight device and solar vector.Due to being limited by motion
System, can not simulate the incident solar vector of any direction, therefore can not also realize that aircraft Direct to the sun controls under any attitude
Ground simulation verification.
Full physical simulation mode be on the basis of semi-physical simulation, attitude of flight vehicle dynamics using three-axis air-bearing table into
Row physical analogy, and controller, executing agency and part are measured into sensor（Such as gyro, horizon instrument, sun sensor）
It is also placed in the full physical simulation experiment that hardware in loop is carried out on three-axis air-bearing table.The validity of this emulation mode simulation and effectively
Property it is best, but simulated environment is built complicated, is cost dearly, it is necessary to professional operator carries out equipment operation, and by air supporting
The limitation powered and supplied on platform, it is impossible to carry out simulating, verifying for a long time.Meanwhile substantial amounts of beam worker is required for before experiment every time
Make, be not easy to the development of experiment.Particularly limited by air floating table range of movement and speed, attitude of flight vehicle exception can not be carried out
The ground simulation verification that Direct to the sun controls in the case of rolling.
The content of the invention
In order to overcome the above-mentioned deficiencies of the prior art and defect, to meet sun acquisition and flight that aircraft initially enters the orbit
Have a high regard for the solar array emulation testing that Direct to the sun controls again under the abnormal posture of meaning, the present invention proposes a kind of any attitude
The semi-physical simulation test system of lower aircraft Direct to the sun control.
The present invention technical solution be：The semi-physical simulation that aircraft Direct to the sun controls under a kind of any attitude is surveyed
Test system, including sun sensor simulator, earth's magnetic field simulator, earth simulator for earth, star simulator, motion simulator, PXI are adopted
Collect control computer, dynamics simulation machine, file distributing unit, the distant note machine of remote measuring and controlling, database, display terminal, CAN bus
Cable system, fiber reflection memory network and TCP/IP networks, it is characterised in that sun sensor simulator uses voltage-controlled current source mould
Intend sun sensor under the various postures of aircraft and, by the state of solar irradiation, it is in-orbit that aircraft is generated using dynamically magnetic simulation
Magnetic field, remote measurement, remote control and distant note information exchange, are realized and closed using CAN bus real-time performance star using fiber reflection memory network
Distributed real-time simulink and time synchronization between each target simulator of ring emulation test system and ground installation.
The invention has the characteristics that and good result：
The present invention is sensitive according to the in-orbit solar irradiation to solar spectrum certain spectral of sun sensor, and the sun is quick
With the relevant characteristic of incident flux, it is more only to abandon conventionally employed complicated lamp array optical solar simulator simulation for sensor output current
The mode of spectrum solar target, is directly sweared according to each sun sensor photosurface under the in-orbit state of aircraft and the sun are incident
The relativeness of amount, and the field angle and photobehavior of sun sensor, the simulation 0-1 formula sun is exported by voltage-controlled current source
Sensor and the in-orbit current characteristics by solar irradiation of analog sun sensor, i.e., directly substituted with the too quick simulator of constant-current source
Solar sail plate face normal vector and solar vector under sun sensor and the in-orbit various postures of solar simulator simulated flight device
Relative angular relationship, realizes the Direct to the sun control semi-physical simulation of Attitude and orbit control system, this is to be different from existing Direct to the sun control
One of innovative point of semi-physical simulation test system processed；
The in-orbit orbit parameter of aircraft that the present invention is generated according to dynamics simulation machine, is driven using accurately magnetic field model
The in-orbit earth's magnetic field target property of dynamic earth's magnetic field simulator dynamic generation aircraft, at the same it is local using the shielding of permalloy shielding case
Magnetic field and the interference of external magnetic field, the geomagnetic field intensity measured by three axis magnetometer carry out aircraft magnetic control sun-orientation and
Magnetic dumping, rather than magnetic field table is used, this is the innovative point for being different from existing Direct to the sun control semi-physical simulation test system
Two；
The present invention is using fiber reflection memory network and interrupts the more Mechanics Simulation machines of handshake mechanism progress, PXI acquisition controls
The distant note machine of equipment, remote measuring and controlling and multiple target simulators（Motion simulator, earth's magnetic field simulator, star simulator, the earth
Simulator etc.）Between real-time data communication and synchronization, realize multiple target distributed synchronization real-time simulation, this be different from it is existing
Have the three of the innovative point of Direct to the sun control semi-physical simulation test system
After foregoing invention, aircraft Direct to the sun control emulation test system has the following advantages that：
1）The semi-physical simulation verification that Direct to the sun controls under any abnormal posture can be achieved, avoid due to solar simulation
The limitation of device motion, motion simulator structure and space place, it is caused that sun sensor incident light photograph is blocked
And can not achieve under any abnormal posture to the simulating, verifying of sun global attitude acquisition control, while also solve the total space sun
The abnormal shake of simulator uneven illumination is even when causing ground simulation attitude of flight vehicle, improves Attitude and orbit control system ground simulation and tests
The authenticity and validity of card.
2）Sun sensor and solar simulator is replaced to carry out Attitude and orbit control system half using the too quick simulator of voltage controlled current source
Physical simulation is tested, and the output state that can change too quick simulator by dynamics realizes the fault simulation of sun sensor,
Effectively reduce artificial damage or pollute the cost that the probability in sun sensor optical sensitive face and target simulator are built, shorten
Cycle of Attitude and orbit control system semi-physical simulation environmental structure, while also reduce the complexity of equipment operation.
3）By the in-orbit earth's magnetic field environment of earth's magnetic field simulator dynamic generation aircraft, solving in the past cannot be by three axis magnetic
Strong meter access Attitude and orbit control system carries out the problem of posture determines to verify with attitude control ground semi-physical simulation, while also solves
The problem of control precision of magnetic torquer is poor is carried out using magnetic field table, is determined to carry out the magnetic sun using three axis magnetometer and magnetic torquer
To control（Controlled including magnetic torquer plus flying wheel sun-orientation, pure magnetic torquer sun-orientation control, magnetic torquer aggravates power
Gradient sun-orientation control etc.）Provide effective ground simulation verification means.
4）By fiber reflection memory network and interrupt handshake mechanism solve data between multiple simulators it is asynchronous with
And the problem of conventional TCP/IP network obstruction and transmission delay, while also solve network information obstruction with caused by transmission delay
Motion simulator jitter problem, improves the real-time of emulation test system, realizes the emulation of multiple target distributed synchronization.
Brief description of the drawings
By reading the detailed description made to non-limiting example made with reference to the following drawings, of the invention is other
Feature, objects and advantages will become more apparent upon：
Fig. 1 is that traditional Direct to the sun controls semi-physical simulation to test the block diagram of system；
Fig. 2 is the semi physical closed cycle simulation test system block diagram 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.
The same or similar reference numeral represents the same or similar component in attached drawing.
Embodiment
The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings.It is to be understood that following embodiments are only used
It is used to limit the scope of the present invention in illustrating rather than.
The schematic block diagram for semi-physical simulation test one embodiment of system that Direct to the sun controls under any attitude of invention is such as
Shown in Fig. 2, including sun sensor simulator, earth's magnetic field simulator, earth simulator for earth, star simulator, motion simulator, PXI
The distant note machine of acquisition control computer, dynamics simulation machine, file distributing unit, remote measuring and controlling, database, display terminal, CAN are total
Line cable system, fiber reflection memory network and TCP/IP networks, and product on star（Board computer system, gyro, infrared horizon
Instrument, star sensor, three axis magnetometer, jet thrust device controller, flying wheel, magnetic torquer etc.）, dynamics simulation computer meter
Generation vehicle dynamics data and space environment data are calculated, each target simulator and fortune are synchronously driven by reflective memory network
Dynamic simulator, target simulator space environmental simulation（Such as earth infra-red radiation, fixed star, earth's magnetic field, the sun）, motion simulator mould
Intend the attitude motion of aircraft, board computer system carries out posture and controlled quentity controlled variable according to the measurement data that each measurement unit obtains
Resolving, and export to corresponding executing agency, the execution amount and variable quantity of PXI acquisition control computer acquisitions executing agency,
Dynamics simulation machine is given to carry out the status information feedback of executing agency using interruption handshake mechanism and by reflective memory network
The calculating of subsequent cycle, the distant note machine of remote measuring and controlling is by the telemetry of CAN bus network inquiry spaceborne computer, while to star
Carry computer and carry out distant note remote control.Experimental data is distributed to database and display eventually by file distributing unit by TCP/IP networks
End carries out the storage of test data, display, and subsequent playback, so that the distributed posture for forming a set of completion is determined and controlled
Semi physical closed cycle simulation test system.
One of emphasis of the present invention is to propose replaces sun sensor and too using the too quick simulator of voltage controlled current source
Under the positive various postures of simulator simulated flight device sun sensor by solar irradiation state, and then realize Direct to the sun control
Ground semi-physical simulation verification, its embodiment are as shown in Figure 3.
Dynamics simulation machine calculates the solar vector under inertial system according to flight track parameter firstr i , then by inertia
Solar vector under system is transformed into aircraft body coordinate system：
（1）
For 0-1 formula sun sensors, sensitive area normal and three direction of principal axis of aircraft body coordinate system of each sensor
It is parallel
（2）
The output current of 0-1 formula sun sensors is：
（3）
WhereinFor electric current conversion coefficient；
For solar irradiation constant；
S is too sensor photosensitive area；
It is formula for angle of incidence of sunlight（1）In,,；
For the field angle of sun sensor；
For analog sun sensor, the solar vector under body series is transformed into the measurement of simulated solar sensor first
Under coordinate system.
（4）
Solar incident angle is respectively：
（5）
4 pieces of cell piece a, b, c, d output currents of analog sun sensor are respectively：
（6）
（7）
Wherein,For conversion coefficient；
For solar irradiation constant；
S is too total photosensitive area of sensor a, b, c and d.
Secondly the electric current output model of above-mentioned sun sensor is converted into voltage output model,
The too quick simulator of voltage controlled current source is transferred to finally by Reflective memory network, under the in-orbit various postures of simulated flight device
State of the sun sensor by solar irradiation.In this way can be according to the relation of attitude of flight vehicle and sun incidence vector
Irradiation behaviour under any abnormal posture is simulated by voltage controlled current source, therefore can realize that Direct to the sun controls under any attitude
Closed cycle simulation test.Too quick each output channel of simulator has good uniformity at the same time, also overcomes optical sun simulation
Device irradiates non-uniform influence.
The two of the emphasis of the present invention are to propose using permalloy shielding case shielding external environmental interference magnetic field, by dynamic
The high-precision in-orbit magnetic field of IGRF Geomagnetic Field Models data-driven earth's magnetic field simulator dynamic generation aircraft of Mechanics Simulation machine, star
The measurement data of the magnetic field data and attitude sensor that carry computer system collection three axis magnetometer measurement carries out posture and magnetic control
The resolving of instruction, and control magnetic torquer to carry out the control of aircraft Direct to the sun three-axis attitude, controlled so as to fulfill Direct to the sun
Ground semi physical closed-loop simulation, its embodiment is as shown in Figure 4：
External environmental interference magnetic field is shielded with permalloy shielding case first, independently three to earth's magnetic field simulator
Axis input current, the three-dimensional magnetic field of simulator generation is measured by high-precision three axis magnetometer, marks earth's magnetic field simulator generation
Magnetic fieldAnd driving currentRelation：
（8）
Wherein C is the coefficient matrix calibrated；
The correction amount calibrated.
Secondly dynamics simulation machine earth's magnetic field under coordinate system according to IGRF Geomagnetic Field Model dynamic generation east northeasts：
（9）
WhereinFor earth radius；
For aircraft the earth's core away from；
For east longitude；
For geographical colatitude；
,For gaussian coefficient；
For the association Legnedre polynomial of n m rank.
Then the earth's magnetic field under coordinate system is transformed into three axis magnetometer measuring coordinate system by east northeast, and by corresponding magnetic field
Intensity data is sent to magnetic simulation device by Reflective memory network：
（10）
WhereinThe transition matrix of inertial system is arrived for east northeast；
Transition matrix for inertial system to aircraft body coordinate；
Transition matrix for aircraft body coordinate system to three axis magnetometer measuring coordinate system.
Conclusively magnetic simulation device control computer utilizes the driving current and three axis magnetic of the earth's magnetic field simulator calibrated
The correspondence of field intensity, according to the dynamics simulation machine driving data control current source dynamic analog output aircraft received
In-orbit magnetic field intensity.The measurement data that board computer system gathers three axis magnetometer in real time carries out Attitude Calculation and control instruction
Output, controls, the flywheel that can be used for aircraft adds the sun-orientation of magnetic torquer to control, magnetic sun-orientation with reference to magnetic torquer
The ground simulation verification of the Direct to the sun control strategies such as control.
By by sun sensor and solar irradiation analogue technique, and dynamically magnetic simulation technology is combined, too
Quick simulator and earth's magnetic field simulator access Attitude and orbit control system ground semi physical closed-loop simulation, realize under any attitude to day
Oriented control ground simulation is verified, and the ground simulation verification of various Direct to the sun control strategies, it is ensured that Attitude and orbit control system
The validity of ground test and all standing.
The semi-physical simulation controlled above in association with attached drawing aircraft Direct to the sun under a kind of any attitude of the present invention is surveyed
Test system is described, but these explanations cannot be considered as limiting the scope of the present invention, and protection scope of the present invention has
Appended claims limit, and any change carried out on the basis of the claims in the present invention is all protection scope of the present invention.
Claims (6)
1. a kind of semi-physical simulation test system of Direct to the sun control, including board computer system, gyro, infrared horizon
Instrument, star sensor, three axis magnetometer, executing agency, motion simulator and target simulator；The target simulator simulates space
Environment, the attitude motion of the motion simulator simulated flight device, the board computer system are obtained according to each measurement unit
Measurement data carry out the resolving of posture and controlled quentity controlled variable, and export to the executing agency, it is characterised in that：It is quick to further include the sun
Sensor simulator, dynamically magnetic simulation device, PXI acquisition controls computer, dynamics simulation machine, file distributing unit, remote measurement
It is remotely controlled distant note machine, database, display terminal, CAN bus network and fiber reflection memory network；
The sun sensor simulator is using sun sensor under the various postures of voltage-controlled current source simulated flight device by sun spoke
According to state, the in-orbit magnetic field of dynamically magnetic simulation device simulation generation aircraft, the PXI acquisition controls computer acquisition
The execution amount and variable quantity of executing agency, using interrupting handshake mechanism and by the fiber reflection memory network by executing agency
Status information feedback carries out the calculating of subsequent cycle to the dynamics simulation machine, and the distant note machine of remote measuring and controlling passes through described
The telemetry of spaceborne computer described in CAN bus network inquiry, while distant note is carried out to the spaceborne computer and is remotely controlled, it is described
Experimental data is distributed to the database by TCP/IP networks for file distributing unit and the display terminal carries out experiment number
According to storage, display and subsequent playback.
2. the semi-physical simulation test system of Direct to the sun control according to claim 1, it is characterised in that the sun
Sensor simulator is according to the relativeness and incident flux size simulated solar of sun sensor sensitive area and solar vector
The output current of sensor.
3. the semi-physical simulation test system of Direct to the sun control according to claim 1, it is characterised in that the execution
Mechanism includes jet thrust device controller, flying wheel and magnetic torquer.
4. the semi-physical simulation test system of Direct to the sun control according to claim 3, it is characterised in that dynamic earth magnetism
Field stimulation device dynamic is provided the three axis magnetometer and is determined and the magnetic force with the in-orbit magnetic field intensity information progress posture of aircraft
Square device controls.
5. the semi-physical simulation test system of Direct to the sun control according to claim 1, it is characterised in that the target
Simulator includes earth simulator for earth and star simulator.
6. the semi-physical simulation test system of Direct to the sun control according to claim 1, it is characterised in that the dynamic
Earth's magnetic field simulator uses permalloy shielding case.
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| CN106218924B (en) * | 2016-07-14 | 2018-10-12 | 上海宇航系统工程研究所 | Space station α Direct to the sun device driveabilities ground semi physical tests system |
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| CN110456663B (en) * | 2019-08-19 | 2023-01-06 | 哈尔滨工业大学 | Aircraft navigation control technology simulation device and method based on multi-source information fusion |
| 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 |
| GB2623062A (en) * | 2022-09-29 | 2024-04-10 | 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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