CN106773784A - The control law verification platform and method of a kind of configurable remaining grade - Google Patents
The control law verification platform and method of a kind of configurable remaining grade Download PDFInfo
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Abstract
The invention belongs to aircraft control system field, the control law verification platform and method of a kind of configurable remaining grade are proposed, verification platform includes：4 remaining real-time simulation nodes, software loading/system testing computer, Ethernet and Reflective memory network, wherein, 4 remaining real-time simulation nodes are by 4 functions, performance, interface and constitute identical embedded computer and constitute, and run VxWork real time operating systems；Data cross transmission is carried out by CCDL between computer, CCDL also includes synchronizing cable all the way, for the clock management by synchronization between simulation node；Real-time simulation node runs flight control system algorithm, and is input into and output data by physics I/O interfaces.
Description
Technical field
The invention belongs to aircraft control system field, it is adaptable to Airplane Flight Control System ' and other high safeties, highly reliable field
Redundance control system control law proof of algorithm.
Background technology
Control law is the core logic algorithm for realizing control system control function.The reliability service of flight control system is flight peace
Full guarantee, its small fault is likely to trigger the catastrophic consequence of aircraft.In order to improve the reliability of flight control system, in unit
On the premise of device basic reliability is certain, its core component such as sensor, computer, actuator etc. all employ remaining skill
Art.Currently, the early stage checking work in design of control law stage is all the algorithm simulating carried out by digital means, the mesh of checking
Mark is only confined in the correctness of control algolithm, and for multiplicated system configure brought redundancy management, data transfer,
The key technologies such as synchronization, real-time, multi-control channel coordination can not be verified fully.
The content of the invention
The purpose of the present invention：The control law verification platform and method of a kind of configurable remaining grade are proposed, is met in control
The rule design phase is controlled the demand of rule redundance real-time system associated verification.
Technical scheme：
A kind of control law verification platform of configurable remaining grade, including：
4 remaining real-time simulation nodes, software loading/system testing computer, Ethernet and Reflective memory network,
Wherein, 4 remaining real-time simulation nodes are by 4 functions, performance, interface and constitute identical embedded computer
Constitute, run VxWork real time operating systems；Data cross transmission is carried out by CCDL between computer, CCDL is also included all the way
Synchronizing cable, for the clock management by synchronization between simulation node；Real-time simulation node runs flight control system algorithm, and by physics
I/O interfaces are input into and output data；
Software is loaded and system testing computer, completes the matlab/Simulink Modeling and Designs of Flight Control Algorithm, and
Algorithm model is automatically converted to C language real-time code；It is connected with 4 remaining real-time simulation nodes by Ethernet, code is same
Step downloads to 4 remaining real-time simulation nodes, completes embedded software loading, and monitor running software feelings in real-time simulation node
Condition；Software load and system testing computer be also connected with 4 remaining real-time simulation nodes by Reflective memory network, for record with
Analyze data.
Specifically, real-time simulation node includes：
Real-time simulation node completes hardware management, health detection and task management by operating system；Hardware management functions are complete
Into processor, memory, the management of interface card and detection；Under vxworks operating system environment, flying control algorithm model is
Completed scheduling and run by task management functions as real-time task, and run with multitask mode docking port, total system,
Hardware driving, abnormality processing, intertask communication are scheduled and management；Health measuring function provides the reality of processor and memory
When condition monitoring, and Ethernet and Reflective memory network condition monitoring；
By matlab/Simulink and real-time system interface, the flight control system algorithm model that will be developed using Matlab
Automatically generate the real-time code that runs under vxworks operating system environment and complete model downloading task；
Monitoring software interface, is the software interface of monitoring software and real-time simulation node, possesses multinode monitoring capacity；Prison
Control software distinguishes each simulation node according to the IP address of real-time simulation node；Modeled in flight control system algorithm by monitoring software
During be monitored and to set, completed to control signal by monitoring software interface when fault simulation is carried out to flight control system
Direct fault location；Complete model running control, model data collecting, monitoring, storage, analysis, real-time system operation monitoring；
Flight control system and external system interface, for flight control system and simulator or other outside analogue system crosslinkings；
Modeling Flight Control System framework, there is provided the software frame of flight control system algorithm modeling, for the winged control system of different aircrafts
System simulation algorithm design, is carried out under this model framework；It is comprehensive including input/output Two monitor levels voting face, control law and failure
Close function；Monitoring voting function is by the synchronization of 4 remaining real-time simulation nodes, internodal data Cross transfer and remaining signal comparison sheet
Certainly monitoring function is constituted；Modeling Flight Control System framework completes data communication and scheduling between each functional module, and control algolithm is not according to
With characteristic configuration number of signals, the type of flight control system, compare voting monitoring strategies, design control law and fault comprehensive algorithm.
Further, each real-time simulation node is used as control passage all the way, between CCDL is responsible for 4 remaining real-time simulation nodes
Communication；Each passage runs identical control algolithm model, and judges 4 correctness of channel operation result, constitutes similar
Redundant configurations；4 passages must start simultaneously at emulation, and each real-time simulation step-length is synchronous, if it find that any one
There is step-out and then reports step-out failure in real-time simulation node；System realizes that system is same by the clock synchronizing cable included in CCDL
Step management；Each emulation cycle starts, it is desirable to which 4 Channel Synchronous are once, it is ensured that 4 passages are sampled in synchronization；Calculate
Result output before each Channel Synchronous once, it is ensured that each channel signal is output in synchronization；The clocking error of each passage
Must not add up, when the clocking error between passage exceedes prescribed limit, then detect step-out passage；
Collection input signal and result output signal two-stage voting face are set, are taken and is voted strategy, taken according to minority
Signal value is directly compared from most principles；Each node intersects the number of other nodes obtained in data transmission module first
According to, gained vote situation of the data of node 1,2,3,4 in the range of error setting is then counted respectively, finally obey many according to minority
Several principles is by who gets the most votes's data output.
A kind of control law verification method of configurable remaining grade, including：
(1) 4 remaining flies control real-time emulation system and is crosslinked with simulator；
(2) real-time system simulation model is generated；
(3) real-time system simulation model is analyzed；
Wherein, step (1) includes：
(11) flight control system algorithm model is built using matlab/Simulink；
(12) test script file is write in matlab/Simulink, model various functions and performance test is completed；
(13) profit shows a C language the reflective memory communication interface routine for flying control analogue system and simulator；
(14) demand configuration " simulation system software framework " is emulated according to simulator；
(15) the matlab/Simulink Model Monitorings point of " monitoring software " is configured according to dynamic test request；
(16) compilation tool provided by system forms real-time system object code；
(17) the synchronous download of real-time target code of 4 remaining simulation nodes is completed by download manager；
(18) complete flight control system simulation modeling by above-mentioned steps and systems soft ware compiles loading, finally, by mould
Intend operation closed-loop dynamic test flight control system function and the performance of device；
Step (2) includes：
(21) monitoring software is generated, monitoring software function includes：Operation, stopping and the pause of Controlling model；Data monitoring,
Record and analysis；System mode monitor in real time；System health is detected；
(22) software integrated scheduling, task management, interface management, data transfer management, clock management by synchronization, hardware resource
Management is automatically performed by " simulation system software framework ", and user carries out flying control algorithm design, including control law and remaining software set
Meter；
(23) using " user's simulation model " of matlab Environment Designs and " user's C code " of manual compiling by real-time
Code building software RTI automatically generates real-time code, and passes through " C compilers " with " simulation system software framework " and carry out binding,
VxWorks real time operating system object code is formed, wherein " simulation system software framework " includes what user was arranged as required to
Model Monitoring information and operation and control information；These object codes synchronously download to 4 remaining simulation nodes by " download manager ",
Feedback of the information in simulation model running is supplied to user test with monitoring to " monitoring software "；
Step (3) includes：
(31) Simulink model attributes are changed, by code automatic parsing process addition model attributes；
(32) by RTI automatic code generatings；
(33) automodel dissects the All Files of RTI generations, and the model variable and model hierarchy knot that will be obtained
Structure is saved in specified file；
(34) monitoring software opens the variable that model is dissected, and obtains all model variable data and is analyzed for l-G simulation test；
(35) record and permanent preservation real-time simulation data；
(36) data of record use the * .mat stored in file format of Matlab；
(37) DAS for meeting use requirement is write on Matlab.
Advantages of the present invention：
(1) present invention can provide the assessment result of remaining grade and Systems Redundancy Management in the system schema demonstration stage,
Very important positive role is played to conceptual design.
(2) present invention provides the control law test and verification platform that highest can support the configurable remaining grade of 4 remainings, can
Flexible remaining grade configuration is carried out according to requirement of system design.Meet design of control law early stage development control law algorithm to exist
The demand of associated verification is carried out under redundance environment.
(3) present invention provides the run-time environment of control law software, supports the control law of matlab/Simulink exploitations
Algorithm model downloads the real-time software be converted under VxWorks system automatically, and control law algorithm quickly and easily can be carried out
Real-time verification.
(4) present invention provides the model analysis function under real-time multiplicated system, can be in real-time redundance running
In analysis is monitored to control law algorithm model and internal significant data.
(5) present invention only needs to carry out the platform simple Interface Matching and system control scheduling exploitation just can be with mould
Intend device crosslinking, subparticipation associative simulation is emulated as the flight control computer of simulator, the closed loop completed under simulator environment is imitated
True task.The software/hardware resource enriched using simulator is analyzed and closed cycle simulation test to flying control algorithm modeling, is improve
Simulation efficiency and the coverage rate of checking.
(6) present invention is constituted using laboratory's level shelf hardware device, and structure composed is simple, compared with aircraft airborne equipment
Larger amplitude reduces design, operation and maintenance cost.
Brief description of the drawings：
Fig. 1 is platform structure schematic diagram of the present invention.
Fig. 2 is real-time simulation node operating diagram.
Fig. 3 is system cross-linked structure schematic diagram.
Fig. 4 is Simulink simulation models to real-time system flow path switch schematic diagram.
Specific embodiment：
The present invention is described in further detail below in conjunction with the accompanying drawings.
A kind of control law verification platform of configurable remaining grade, including：
4 remaining real-time simulation nodes, software loading/system testing computer, Ethernet and Reflective memory network,
Wherein, 4 remaining real-time simulation nodes are by 4 functions, performance, interface and constitute identical embedded computer
Constitute, run VxWork real time operating systems；Pass through CCDL (Cross Communication Data Link between computer
Cross-communication data link) data cross transmission is carried out, CCDL also includes synchronizing cable all the way, for the clock between simulation node
Management by synchronization；Real-time simulation node runs flight control system algorithm, and is input into and output data by physics I/O interfaces；
Software is loaded and system testing computer, completes the matlab/Simulink Modeling and Designs of Flight Control Algorithm, and
Algorithm model is automatically converted to C language real-time code；It is connected with 4 remaining real-time simulation nodes by Ethernet, code is same
Step downloads to 4 remaining real-time simulation nodes, completes embedded software loading, and monitor running software feelings in real-time simulation node
Condition；Software load and system testing computer be also connected with 4 remaining real-time simulation nodes by Reflective memory network, for record with
Analyze data.
Specifically, real-time simulation node includes：
Real-time simulation node completes hardware management, health detection and task management by operating system；Hardware management functions are complete
Into processor, memory, the management of interface card and detection；Under vxworks operating system environment, flying control algorithm model is
Completed scheduling and run by task management functions as real-time task, and run with multitask mode docking port, total system,
Hardware driving, abnormality processing, intertask communication are scheduled and management；Health measuring function provides the reality of processor and memory
When condition monitoring, and Ethernet and Reflective memory network condition monitoring；
By matlab/Simulink and real-time system interface, the flight control system algorithm model that will be developed using Matlab
Automatically generate the real-time code that runs under vxworks operating system environment and complete model downloading task；
Monitoring software interface, is the software interface of monitoring software and real-time simulation node, possesses multinode monitoring capacity；Prison
Control software distinguishes each simulation node according to the IP address of real-time simulation node；Modeled in flight control system algorithm by monitoring software
During be monitored and to set, completed to control signal by monitoring software interface when fault simulation is carried out to flight control system
Direct fault location；Complete model running control, model data collecting, monitoring, storage, analysis, real-time system operation monitoring (health
Detection, hardware management, board detection)；
Flight control system and external system interface, for flight control system and simulator or other outside analogue system crosslinkings；
Modeling Flight Control System framework, there is provided the software frame of flight control system algorithm modeling, for the winged control system of different aircrafts
System simulation algorithm design, is carried out under this model framework；It is comprehensive including input/output Two monitor levels voting face, control law and failure
Close function；Monitoring voting function is by the synchronization of 4 remaining real-time simulation nodes, internodal data Cross transfer and remaining signal comparison sheet
Certainly monitoring function is constituted；Modeling Flight Control System framework completes data communication and scheduling between each functional module, and control algolithm is not according to
With characteristic configuration number of signals, the type of flight control system, compare voting monitoring strategies, design control law and fault comprehensive algorithm.
Further, each real-time simulation node is used as control passage all the way, between CCDL is responsible for 4 remaining real-time simulation nodes
Communication；Each passage runs identical control algolithm model, and judges 4 correctness of channel operation result, constitutes similar
Redundant configurations；4 passages must start simultaneously at emulation, and each real-time simulation step-length is synchronous, if it find that any one
There is step-out and then reports step-out failure in real-time simulation node；System realizes that system is same by the clock synchronizing cable included in CCDL
Step management；Each emulation cycle starts, it is desirable to which 4 Channel Synchronous are once, it is ensured that 4 passages are sampled in synchronization；Calculate
Result output before each Channel Synchronous once, it is ensured that each channel signal is output in synchronization；The clocking error of each passage
Must not add up, when the clocking error between passage exceedes prescribed limit, then detect step-out passage；
Collection input signal and result output signal two-stage voting face are set, are taken and is voted strategy, taken according to minority
Signal value is directly compared from most principles；Each node intersects the number of other nodes obtained in data transmission module first
According to, gained vote situation of the data of node 1,2,3,4 in the range of error setting is then counted respectively, finally obey many according to minority
Several principles is by who gets the most votes's data output.
A kind of control law verification method of configurable remaining grade, including：
(1) 4 remaining flies control real-time emulation system and is crosslinked with simulator；
(2) real-time system simulation model is generated；
(3) real-time system simulation model is analyzed；
Wherein, step (1) includes：
(11) flight control system algorithm model is built using matlab/Simulink；
(12) test script file is write in matlab/Simulink, model various functions and performance test is completed；
(13) profit shows a C language the reflective memory communication interface routine for flying control analogue system and simulator；
(14) demand configuration " simulation system software framework " is emulated according to simulator；
(15) the matlab/Simulink Model Monitorings point of " monitoring software " is configured according to dynamic test request；
(16) compilation tool provided by system forms real-time system object code；
(17) the synchronous download of real-time target code of 4 remaining simulation nodes is completed by download manager；
(18) complete flight control system simulation modeling by above-mentioned steps and systems soft ware compiles loading, finally, by mould
Intend operation closed-loop dynamic test flight control system function and the performance of device；
Step (2) includes：
(21) monitoring software is generated, monitoring software function includes：Operation, stopping and the pause of Controlling model；Data monitoring,
Record and analysis；System mode monitor in real time；System health is detected；
(22) software integrated scheduling, task management, interface management, data transfer management, clock management by synchronization, hardware resource
Management is automatically performed by " simulation system software framework ", and user carries out flying control algorithm design, including control law and remaining software set
Meter；
(23) using " user's simulation model " of matlab Environment Designs and " user's C code " of manual compiling by real-time
Code building software RTI (Real-Time Interface) automatically generates real-time code, and logical with " simulation system software framework "
Crossing " C compilers " carries out binding, VxWorks real time operating system object code is formed, wherein " simulation system software framework " includes
Model Monitoring information and operation and control information that user is arranged as required to；These object codes are synchronous by " download manager "
Download to 4 remaining simulation nodes, the feedback of the information in simulation model running to " monitoring software " be supplied to user test with
Monitoring；
Step (3) includes：
(31) Simulink model attributes are changed, by code automatic parsing process addition model attributes；
(32) by RTI automatic code generatings；
(33) automodel dissects the All Files of RTI generations, and the model variable and model hierarchy knot that will be obtained
Structure is saved in specified file；
(34) monitoring software opens the variable that model is dissected, and obtains all model variable data and is analyzed for l-G simulation test；
(35) record and permanent preservation real-time simulation data；
(36) data of record use the * .mat stored in file format of Matlab；
(37) DAS for meeting use requirement is write on Matlab.
Device embodiment
Platform structure
The control law verification platform of configurable remaining grade it is main by：4 remaining real-time simulation nodes, software loading/system
Calculation machine, Ethernet and Reflective memory network are constituted, and platform structure is shown in Fig. 1.Wherein, 4 remaining real-time simulation nodes are by 4 work(
Energy, performance, interface and the identical embedded computer of composition are constituted, and run VxWork real time operating systems.Computer it
Between data cross transmission is carried out by CCDL (Cross Communication Data Link cross-communications data link),
CCDL also includes synchronizing cable all the way, for the clock management by synchronization between simulation node.The function of real-time simulation node is operation
Flight control system algorithm, and be input into and output data by physics I/O interfaces.
Software is loaded and system testing computer, completes the matlab/Simulink Modeling and Designs of Flight Control Algorithm, and
Algorithm model is automatically converted to C language real-time code.It is connected with 4 remaining real-time simulation nodes by Ethernet, code is same
Step downloads to 4 remaining real-time simulation nodes, completes embedded software loading, and monitor running software situation in real time node.
Software is loaded and system testing computer is also connected by Reflective memory network with 4 remaining real-time simulation nodes, for recording and dividing
Analysis data.
Simulation node operation principle
Real-time simulation node runs vxworks operating system, and hardware management, health detection and task are completed by operating system
Management.Hardware management functions complete the management and detection of processor, memory, interface card etc..In vxworks operating system
Under environment, it is to complete scheduling and operation by task management functions as real-time task to fly control algorithm model, and with multitask side
Formula docking port, total system operation, hardware driving, abnormality processing, intertask communication etc. are scheduled and management.Health detection work(
The real-time status monitoring of processor and memory can be mainly provided, and Ethernet and Reflective memory network condition monitoring so that
The overall operation state of system is more got information about, real time node software is shown in Fig. 2.
By matlab/Simulink and real-time system interface, the flight control system algorithm model that will be developed using Matlab
Automatically generate the real-time code that runs under vxworks operating system environment and complete model downloading task.
Monitoring software interface, is the software interface of monitoring software and real-time simulation node, possesses multinode monitoring capacity.Prison
Control software distinguishes each simulation node according to the IP address of real-time simulation node.Modeled in flight control system algorithm by monitoring software
During be monitored and to set, can be completed to controlling by monitoring software interface when fault simulation is carried out to flight control system
The direct fault location of signal.Complete model running control, model data collecting, monitoring, storage, analysis, real-time system operation monitoring
(health detection, hardware management, board detection) etc..
Flight control system and external system interface, for flight control system and simulator or other outside analogue system crosslinkings.
Modeling Flight Control System framework, there is provided basic software framework necessary to the modeling of flight control system algorithm, flies for difference
The flight control system simulation algorithm design of machine, can be carried out under this model framework.It is main to decide by vote including input/output Two monitor levels
Face, control law and fault comprehensive function.Monitoring voting function is by 4 remaining real-time simulation nodes are synchronous, internodal data intersects and passes
Defeated and remaining signal compares voting monitoring function and constitutes.Model framework has been completed data communication and tune between each functional module
Degree, only needs to configure number of signals, type according to the characteristic of different flight control systems during control algorithm design, compares voting monitoring plan
Slightly, design control law and fault comprehensive algorithm.
Redundance simulation node is managed
Each real-time simulation node is responsible for 4 remaining real-time simulation inter-node communications as control passage all the way, CCDL, is real
Existing multichannel redundancy management, the basis of data voting.Each passage runs identical control algolithm model, and judges that 4 lead to
The correctness of road operation result, constitutes similar redundancy configuration.4 passages must start simultaneously at emulation, and each real-time simulation
Step-length is all synchronous.If it find that step-out occurs in any one real-time simulation node then reports step-out failure.System is by CCDL
Comprising clock synchronizing cable realize system synchronization manage.Each emulation cycle starts, it is desirable to which 4 Channel Synchronous are once, it is ensured that 4
Passage is sampled in synchronization.Result of calculation output before each Channel Synchronous once, it is ensured that each channel signal is same
Moment is output.The clocking error of each passage must not add up, and when the clocking error between passage exceedes prescribed limit, then detect
Go out step-out passage.
Collection input signal and result output signal two-stage voting face are set, are taken and is voted strategy, taken according to minority
Signal value is directly compared from most principles.Each node intersects the number of other nodes obtained in data transmission module first
According to, gained vote situation of the data of node 1,2,3,4 in the range of error setting is then counted respectively, finally obey many according to minority
Several principles is by who gets the most votes's data output.
Embodiment of the method
Simulating, verifying
The design of simulator is that the dynamics spy to aircraft is realized by setting up and running corresponding mathematic simulated mode
Property, the emulation of systemic-function and external environment condition, be to design Flight Control Law, the visual plant of checking flight quality, be flight
The main environment and platform of member's life cycle management intervention airplane design.Carrying out closed-loop simulation by simulator can complete to fly control system
System control law, redundancy management, the test checking of system operation management.Flight of the analysis of aircraft under various configurations and flying condition
Quality and task envelope curve, with pilot in ring assessment result as guidance, improve the design of control law, and the manipulation for improving aircraft is special
Property, study influence of the response characteristic of various actuator and controlling unit to flight quality.
The invention can be crosslinked with simulator, and subparticipation associative simulation is emulated as flight control computer therein.To more than 4
Degree flight control computer real-time emulation system carries out simple Interface Matching exploitation and system control scheduling exploitation just can be with simulation
Device is crosslinked, and completes the flight control system artificial tasks of simulator.The software/hardware resource enriched using simulator is modeled to flying control algorithm
It is analyzed and closed cycle simulation test, system cross-linked structure is shown in Fig. 3.
Flight control system emulation generally comprises flight control computer emulation, sensor Simulation and actuator and emulates three in simulator
Core.It is main by model aircraft, atmosphere data, Landing Gear System, avionics system, Mechatronic Systems, electric power system, power/
The flight Simulation System of the compositions such as fuel system, hydraulic system flies control real-time emulation system and hands over by Reflective memory network and 4 remainings
Connection.Complete the emulation to aircraft body and aircraft each system.Control stick, pedal, throttle lever, all kinds of manipulation switches and button etc.
Equipment constitutes the cockpit input of simulator；What comes into a driver's, sound and instrument/display system are the users that simulator is provided for operator
Feedback.
4 remainings fly to control real-time emulation system realizes that step is as follows with simulator is crosslinked：
A) flight control system algorithm model is built using matlab/Simulink；
B) test script file is write in matlab/Simulink, model various functions and performance test is completed；
C) profit shows a C language the reflective memory communication interface routine for flying control analogue system and simulator；
D) demand configuration " simulation system software framework " is emulated according to simulator；
E) the matlab/Simulink Model Monitorings point of " monitoring software " is configured according to dynamic test request；
F) compilation tool provided by system forms real-time system object code；
G) the synchronous download of real-time target code of 4 remaining simulation nodes is completed by download manager；
H) complete flight control system simulation modeling by above-mentioned steps and systems soft ware compiles loading, finally, by simulation
The operation of device can test flight control system function and performance with closed-loop dynamic.
Real-time system simulation model is generated
Monitoring software major function includes：Operation, stopping and the pause of Controlling model；Data monitoring, record and analysis；System
System realtime monitoring；System health detection etc..Software integrated scheduling, task management, interface management, data transfer management, when
Clock management by synchronization, hardware resource management etc. are automatically performed by " simulation system software framework ", and user need to only carry out winged control algorithm and set
Meter, mainly includes control law and remaining Software for Design.Use " user's simulation model " and manual compiling of matlab Environment Designs
" user's C code " by real-time code generate software RTI (Real-Time Interface) automatically generate real-time code, and
Passing through " C compilers " with " simulation system software framework " carries out binding, forms VxWorks real time operating system object code, wherein
" simulation system software framework " includes Model Monitoring information and the operation and control information that user is arranged as required to.These targets
Code synchronously downloads to 4 remaining simulation nodes by " download manager ", and the feedback of the information in simulation model running is to " monitoring
Software " is supplied to user test and monitoring, and Simulink simulation models are shown in Fig. 4 to real-time system flow path switch.
Model analysis
Emulated by the crosslinking with simulator, using man-in-the-loop simulation mode, test point and survey according to test requirements document
Example on probation, is verified and is analyzed to flight control system algorithm model.The foundation of model analysis be after system operation model outside and
The information change situation of built-in variable.Therefore, carry out model and verify that must carry out information gathering point setting, information with analysis adopts
The work such as collection, file record.Between the upper and lower computer of VxWorks system, Tornado is provided up and down for VxWorks system
The communication protocol of position machine, realizes the functions such as application program download, program debugging and information monitoring.
All variables, it is necessary in knowing model are monitored to real time node model tasks data.Monitoring software needs
Model to Simulink is dissected, and monitoring software is obtained model variable.And the model variable that monitoring software is obtained must
Must be consistent with the model variable under Simulink, the hierarchical structure of variable also must be consistent with Simulink.Model was dissected
Journey includes：
A) Simulink model attributes are changed, by code automatic parsing process addition model attributes；
B) RTI automatic code generatings are passed through；
C) automodel dissects the All Files that will dissect RTI generations, and the model variable and model hierarchy that will be obtained
Structure is saved in specified file；
D) monitoring software opens the variable that model is dissected, and obtains all model variable data and is analyzed for l-G simulation test；
E) record and permanent preservation real-time simulation data, so as to the data analysis after l-G simulation test and playback；
F) Matlab has powerful data analysis and process ability, and the data of record use the * .mat files of Matlab
Form is stored.Can very easily be opened in Matlab environment, and be carried out by Matlab powerful data processing function
Analysis；
G) DAS for meeting use requirement is write on Matlab.For example：It is aobvious with curve or numerical approach
Show record data；The data of 4 nodes records are compared to each other；Control law algorithm desired value is contrasted automatically with actual test value
Deng.
Claims (4)
1. a kind of control law verification platform of configurable remaining grade, it is characterised in that including：
4 remaining real-time simulation nodes, software loading/system testing computer, Ethernet and Reflective memory network,
Wherein, 4 remaining real-time simulation nodes are by 4 functions, performance, interface and constitute identical embedding assembly mechanism
Into operation VxWork real time operating systems；Data cross transmission is carried out by CCDL between computer, CCDL also includes same all the way
Step cable, for the clock management by synchronization between simulation node；Real-time simulation node runs flight control system algorithm, and by physics I/
O Interface is input into and output data；
Software is loaded and system testing computer, completes the matlab/Simulink Modeling and Designs of Flight Control Algorithm, and will calculate
Method model is automatically converted to C language real-time code；It is connected with 4 remaining real-time simulation nodes by Ethernet, by under code synchronisation
4 remaining real-time simulation nodes are downloaded to, embedded software loading is completed, and monitor running software situation in real-time simulation node；
Software is loaded and system testing computer is also connected by Reflective memory network with 4 remaining real-time simulation nodes, for recording and dividing
Analysis data.
2. a kind of control law verification platform of configurable remaining grade as claimed in claim 1, it is characterised in that real-time simulation
Node includes：
Real-time simulation node completes hardware management, health detection and task management by operating system；At hardware management functions completion
Reason device, memory, the management of interface card and detection；Under vxworks operating system environment, it is conduct to fly control algorithm model
Real-time task completes scheduling and operation by task management functions, and with multitask mode docking port, total system operation, hardware
Driving, abnormality processing, intertask communication are scheduled and management；Health measuring function provides the real-time shape of processor and memory
State monitor, and Ethernet and Reflective memory network condition monitoring；
By matlab/Simulink and real-time system interface, the flight control system algorithm model that will be developed using Matlab is automatic
Generating run is in the real-time code under vxworks operating system environment and completes model downloading task；
Monitoring software interface, is the software interface of monitoring software and real-time simulation node, possesses multinode monitoring capacity；Monitoring is soft
Part distinguishes each simulation node according to the IP address of real-time simulation node；By monitoring software in flight control system algorithm modeling process
In be monitored and to set, when fault simulation is carried out to flight control system by monitoring software interface complete to control signal therefore
Barrier injection；Complete model running control, model data collecting, monitoring, storage, analysis, real-time system operation monitoring；
Flight control system and external system interface, for flight control system and simulator or other outside analogue system crosslinkings；
Modeling Flight Control System framework, there is provided the software frame of flight control system algorithm modeling, the flight control system for different aircrafts is imitated
True algorithm design, is carried out under this model framework；Including input/output Two monitor levels voting face, control law and fault comprehensive work(
Energy；Monitoring voting function is by 4 remaining real-time simulation nodes are synchronous, internodal data Cross transfer and remaining signal compare voting prison
Control function is constituted；Modeling Flight Control System framework completes data communication and scheduling between each functional module, and control algolithm flies according to difference
Characteristic configuration number of signals, the type of control system, compare voting monitoring strategies, design control law and fault comprehensive algorithm.
3. a kind of control law verification platform of configurable remaining grade as claimed in claim 2, it is characterised in that
Each real-time simulation node is responsible for 4 remaining real-time simulation inter-node communications as control passage all the way, CCDL；Each passage
Operation identical control algolithm model, and judge 4 correctness of channel operation result, constitute similar redundancy configuration；4 passages
Emulation must be started simultaneously at, and each real-time simulation step-length is synchronous, if it find that any one real-time simulation node goes out
Existing step-out then reports step-out failure；System realizes that system synchronization is managed by the clock synchronizing cable included in CCDL；Each is imitated
True cycle starts, it is desirable to which 4 Channel Synchronous are once, it is ensured that 4 passages are sampled in synchronization；It is each before result of calculation output
Channel Synchronous are once, it is ensured that each channel signal is output in synchronization；The clocking error of each passage must not add up, and work as passage
Between clocking error exceed prescribed limit when, then detect step-out passage；
Collection input signal and result output signal two-stage voting face are set, are taken and is voted strategy, obey many according to minority
Several principles directly compare signal value；Each node intersects the data of other nodes obtained in data transmission module first,
Then gained vote situation of the data of node 1,2,3,4 in the range of error setting is counted respectively, finally according to the minority is subordinate to the majority
Principle by who gets the most votes's data output.
4. a kind of control law verification method of configurable remaining grade, it is characterised in that including：
(1) 4 remaining flies control real-time emulation system and is crosslinked with simulator；
(2) real-time system simulation model is generated；
(3) real-time system simulation model is analyzed；
Wherein, step (1) includes：
(11) flight control system algorithm model is built using matlab/Simulink；
(12) test script file is write in matlab/Simulink, model various functions and performance test is completed；
(13) profit shows a C language the reflective memory communication interface routine for flying control analogue system and simulator；
(14) demand configuration " simulation system software framework " is emulated according to simulator；
(15) the matlab/Simulink Model Monitorings point of " monitoring software " is configured according to dynamic test request；
(16) compilation tool provided by system forms real-time system object code；
(17) the synchronous download of real-time target code of 4 remaining simulation nodes is completed by download manager；
(18) complete flight control system simulation modeling by above-mentioned steps and systems soft ware compiles loading, finally, by simulator
Operation closed-loop dynamic test flight control system function and performance；
Step (2) includes：
(21) monitoring software is generated, monitoring software function includes：Operation, stopping and the pause of Controlling model；Data monitoring, record
And analysis；System mode monitor in real time；System health is detected；
(22) software integrated scheduling, task management, interface management, data transfer management, clock management by synchronization, hardware resource management
It is automatically performed by " simulation system software framework ", user carries out flying control algorithm design, including control law and remaining Software for Design；
(23) real-time code is passed through using " user's simulation model " of matlab Environment Designs and " user's C code " of manual compiling
Generating software RTI and automatically generate real-time code, and pass through " C compilers " with " simulation system software framework " carries out binding, is formed
VxWorks real time operating system object code, wherein " simulation system software framework " includes the model that user is arranged as required to
Monitoring information and operation and control information；These object codes synchronously download to 4 remaining simulation nodes by " download manager ", emulate
Feedback of the information during model running is supplied to user test with monitoring to " monitoring software "；
Step (3) includes：
(31) Simulink model attributes are changed, by code automatic parsing process addition model attributes；
(32) by RTI automatic code generatings；
(33) automodel dissects the All Files of RTI generations, and the model variable and model hierarchy structure that will obtain are protected
It is stored in specified file；
(34) monitoring software opens the variable that model is dissected, and obtains all model variable data and is analyzed for l-G simulation test；
(35) record and permanent preservation real-time simulation data；
(36) data of record use the * .mat stored in file format of Matlab；
(37) DAS for meeting use requirement is write on Matlab.
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| CN113961015B (en) * | 2021-09-24 | 2024-02-02 | 中国航空工业集团公司西安飞机设计研究所 | One-dimensional interpolation table design method for flight control law |
| CN115576538A (en) * | 2022-12-09 | 2023-01-06 | 成都麟通科技有限公司 | Automatic redundancy management software code generation method for redundancy system |
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